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Fix remove to legacy in docs #7431

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Fix remove to legacy in docs #7431

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4a28557
remove point cloud to_legacy
h812755591 Feb 8, 2026
17cd1c4
remove point cloud to_legacy
h812755591 Feb 8, 2026
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55 changes: 30 additions & 25 deletions docs/jupyter/t_geometry/pointcloud.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -157,8 +157,8 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"## Conversion between tensor and legacy point cloud\n",
"PointCloud can be converted to/from legacy `open3d.geometry.PointCloud`."
"## Conversion between tensor and point cloud\n",
"PointCloud can be converted to Tensor."
]
},
{
Expand All @@ -167,14 +167,15 @@
"metadata": {},
"outputs": [],
"source": [
"legacy_pcd = pcd.to_legacy()\n",
"print(legacy_pcd, \"\\n\")\n",
"# PointCloud.to_legacy has been moved from 0.14+\n",
"source_pcd = pcd\n",
"print(source_pcd, \"\\n\")\n",
"\n",
"tensor_pcd = o3d.t.geometry.PointCloud.from_legacy(legacy_pcd)\n",
"tensor_pcd = o3d.t.geometry.PointCloud.from_legacy(source_pcd)\n",
"print(tensor_pcd, \"\\n\")\n",
"\n",
"# Convert from legacy point cloud with data type of float64.\n",
"tensor_pcd_f64 = o3d.t.geometry.PointCloud.from_legacy(legacy_pcd, o3c.float64)\n",
"tensor_pcd_f64 = o3d.t.geometry.PointCloud.from_legacy(source_pcd, o3c.float64)\n",
"print(tensor_pcd_f64, \"\\n\")"
]
},
Expand All @@ -195,7 +196,9 @@
"ply_point_cloud = o3d.data.PLYPointCloud()\n",
"pcd = o3d.t.io.read_point_cloud(ply_point_cloud.path)\n",
"print(pcd)\n",
"o3d.visualization.draw_geometries([pcd.to_legacy()],\n",
"# In Open3D 0.14+, PointCloud is directly compatible with draw_geometries.\n",
"# to_legacy() is deprecated and removed in later versions.\n",
"o3d.visualization.draw_geometries([pcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down Expand Up @@ -258,7 +261,9 @@
"source": [
"print(\"Downsample the point cloud with a voxel of 0.03\")\n",
"downpcd = pcd.voxel_down_sample(voxel_size=0.03)\n",
"o3d.visualization.draw_geometries([downpcd.to_legacy()],\n",
"# In Open3D 0.14+, PointCloud is directly compatible with draw_geometries.\n",
"# to_legacy() is deprecated and removed in later versions.\n",
"o3d.visualization.draw_geometries([downpcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand All @@ -281,7 +286,7 @@
"source": [
"print(\"Downsample the point cloud by selecting 5000 farthest points.\")\n",
"downpcd_farthest = pcd.farthest_point_down_sample(5000)\n",
"o3d.visualization.draw_geometries([downpcd_farthest.to_legacy()],\n",
"o3d.visualization.draw_geometries([downpcd_farthest],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down Expand Up @@ -312,7 +317,7 @@
"source": [
"print(\"Recompute the normal of the downsampled point cloud using hybrid nearest neighbor search with 30 max_nn and radius of 0.1m.\")\n",
"downpcd.estimate_normals(max_nn=30, radius=0.1)\n",
"o3d.visualization.draw_geometries([downpcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([downpcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down Expand Up @@ -381,7 +386,7 @@
"demo_crop_data = o3d.data.DemoCropPointCloud()\n",
"pcd = o3d.t.io.read_point_cloud(demo_crop_data.point_cloud_path)\n",
"vol = o3d.visualization.read_selection_polygon_volume(demo_crop_data.cropped_json_path)\n",
"chair = vol.crop_point_cloud(pcd.to_legacy())\n",
"chair = vol.crop_point_cloud(pcd)\n",
"o3d.visualization.draw_geometries([chair],\n",
" zoom=0.7,\n",
" front=[0.5439, -0.2333, -0.8060],\n",
Expand All @@ -404,7 +409,7 @@
"metadata": {},
"outputs": [],
"source": [
"indices = vol.crop_in_polygon(pcd.to_legacy())\n",
"indices = vol.crop_in_polygon(pcd)\n",
"print(f\"Cropped indices length: {len(indices)}\") "
]
},
Expand All @@ -423,7 +428,7 @@
"source": [
"print(\"Paint point cloud.\")\n",
"pcd.paint_uniform_color([1, 0.706, 0])\n",
"o3d.visualization.draw_geometries([pcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([pcd],\n",
" zoom=0.7,\n",
" front=[0.5439, -0.2333, -0.8060],\n",
" lookat=[2.4615, 2.1331, 1.338],\n",
Expand Down Expand Up @@ -456,8 +461,8 @@
"obb = pcd.get_oriented_bounding_box()\n",
"obb.set_color(o3c.Tensor([0, 1, 0], o3c.float32))\n",
"o3d.visualization.draw_geometries(\n",
" [pcd.to_legacy(), aabb.to_legacy(),\n",
" obb.to_legacy()],\n",
" [pcd, aabb,\n",
" obb],\n",
" zoom=0.7,\n",
" front=[0.5439, -0.2333, -0.8060],\n",
" lookat=[2.4615, 2.1331, 1.338],\n",
Expand All @@ -484,15 +489,15 @@
"print(\"Load a ply point cloud, print it, and render it\")\n",
"sample_pcd_data = o3d.data.PCDPointCloud()\n",
"pcd = o3d.t.io.read_point_cloud(sample_pcd_data.path)\n",
"o3d.visualization.draw_geometries([pcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([pcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
" up=[-0.0694, -0.9768, 0.2024])\n",
"\n",
"print(\"Downsample the point cloud with a voxel of 0.02\")\n",
"voxel_down_pcd = pcd.voxel_down_sample(voxel_size=0.02)\n",
"o3d.visualization.draw_geometries([voxel_down_pcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([voxel_down_pcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand All @@ -514,7 +519,7 @@
"source": [
"print(\"Every 5th points are selected\")\n",
"uni_down_pcd = pcd.uniform_down_sample(every_k_points=5)\n",
"o3d.visualization.draw_geometries([uni_down_pcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([uni_down_pcd],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down Expand Up @@ -542,7 +547,7 @@
" print(\"Showing outliers (red) and inliers (gray): \")\n",
" outlier_cloud = outlier_cloud.paint_uniform_color([1.0, 0, 0])\n",
" inlier_cloud.paint_uniform_color([0.8, 0.8, 0.8])\n",
" inlier_cloud = o3d.visualization.draw_geometries([inlier_cloud.to_legacy(), outlier_cloud.to_legacy()],\n",
" inlier_cloud = o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud],\n",
" zoom=0.3412,\n",
" front=[0.4257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down Expand Up @@ -614,9 +619,9 @@
"pcd = o3d.t.io.read_point_cloud(bunny.path)\n",
"\n",
"hull = pcd.compute_convex_hull()\n",
"hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull.to_legacy())\n",
"hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)\n",
"hull_ls.paint_uniform_color((1, 0, 0))\n",
"o3d.visualization.draw_geometries([pcd.to_legacy(), hull_ls])"
"o3d.visualization.draw_geometries([pcd, hull_ls])"
]
},
{
Expand Down Expand Up @@ -647,7 +652,7 @@
"colors = o3c.Tensor(colors[:, :3], o3c.float32)\n",
"colors[labels < 0] = 0\n",
"pcd.point.colors = colors\n",
"o3d.visualization.draw_geometries([pcd.to_legacy()],\n",
"o3d.visualization.draw_geometries([pcd],\n",
" zoom=0.455,\n",
" front=[-0.4999, -0.1659, -0.8499],\n",
" lookat=[2.1813, 2.0619, 2.0999],\n",
Expand Down Expand Up @@ -693,7 +698,7 @@
"inlier_cloud = pcd.select_by_index(inliers)\n",
"inlier_cloud = inlier_cloud.paint_uniform_color([1.0, 0, 0])\n",
"outlier_cloud = pcd.select_by_index(inliers, invert=True)\n",
"o3d.visualization.draw_geometries([inlier_cloud.to_legacy(), outlier_cloud.to_legacy()],\n",
"o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud],\n",
" zoom=0.8,\n",
" front=[-0.4999, -0.1659, -0.8499],\n",
" lookat=[2.1813, 2.0619, 2.0999],\n",
Expand Down Expand Up @@ -761,7 +766,7 @@
"pcd = pcd.select_by_index(pt_map)\n",
"\n",
"print(\"Visualize result\")\n",
"o3d.visualization.draw_geometries([pcd.to_legacy()])"
"o3d.visualization.draw_geometries([pcd])"
]
},
{
Expand All @@ -787,7 +792,7 @@
"\n",
"boundarys = boundarys.paint_uniform_color([1.0, 0.0, 0.0])\n",
"pcd = pcd.paint_uniform_color([0.6, 0.6, 0.6])\n",
"o3d.visualization.draw_geometries([pcd.to_legacy(), boundarys.to_legacy()],\n",
"o3d.visualization.draw_geometries([pcd, boundarys],\n",
" zoom=0.3412,\n",
" front=[0.3257, -0.2125, -0.8795],\n",
" lookat=[2.6172, 2.0475, 1.532],\n",
Expand Down