VoxelGrid is a collection of voxels which are aligned in grid. More...

#include <VoxelGrid.h>

Inheritance diagram for open3d::geometry::VoxelGrid:

Public Member Functions
	VoxelGrid ()
	Default Constructor. More...

	VoxelGrid (const VoxelGrid &src_voxel_grid)
	Copy Constructor. More...

	~VoxelGrid () override

VoxelGrid &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

OrientedBoundingBox	GetOrientedBoundingBox () const override
	Returns an oriented bounding box of the geometry. More...

VoxelGrid &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

VoxelGrid &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

VoxelGrid &	Scale (const double scale, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

VoxelGrid &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

VoxelGrid &	operator+= (const VoxelGrid &voxelgrid)

VoxelGrid	operator+ (const VoxelGrid &voxelgrid) const

bool	HasVoxels () const
	Returns `true` if the voxel grid contains voxels. More...

bool	HasColors () const
	Returns `true` if the voxel grid contains voxel colors. More...

Eigen::Vector3i	GetVoxel (const Eigen::Vector3d &point) const
	Returns voxel index given query point. More...

Eigen::Vector3d	GetVoxelCenterCoordinate (const Eigen::Vector3i &idx) const
	Function that returns the 3d coordinates of the queried voxel center. More...

void	AddVoxel (const Voxel &voxel)
	Add a voxel with specified grid index and color. More...

std::vector< Eigen::Vector3d >	GetVoxelBoundingPoints (const Eigen::Vector3i &index) const
	Return a vector of 3D coordinates that define the indexed voxel cube. More...

std::vector< bool >	CheckIfIncluded (const std::vector< Eigen::Vector3d > &queries)

VoxelGrid &	CarveDepthMap (const Image &depth_map, const camera::PinholeCameraParameters &camera_parameter, bool keep_voxels_outside_image)

VoxelGrid &	CarveSilhouette (const Image &silhouette_mask, const camera::PinholeCameraParameters &camera_parameter, bool keep_voxels_outside_image)

void	CreateFromOctree (const Octree &octree)

std::shared_ptr< geometry::Octree >	ToOctree (const size_t &max_depth) const

std::vector< Voxel >	GetVoxels () const

Public Member Functions inherited from open3d::geometry::Geometry3D
	~Geometry3D () override

Public Member Functions inherited from open3d::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Static Public Member Functions
static std::shared_ptr< VoxelGrid >	CreateDense (const Eigen::Vector3d &origin, double voxel_size, double width, double height, double depth)

static std::shared_ptr< VoxelGrid >	CreateFromPointCloud (const PointCloud &input, double voxel_size)

static std::shared_ptr< VoxelGrid >	CreateFromPointCloudWithinBounds (const PointCloud &input, double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)

static std::shared_ptr< VoxelGrid >	CreateFromTriangleMesh (const TriangleMesh &input, double voxel_size)

static std::shared_ptr< VoxelGrid >	CreateFromTriangleMeshWithinBounds (const TriangleMesh &input, double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

Data Fields
double	voxel_size_ = 0.0
	Size of the voxel. More...

Eigen::Vector3d	origin_ = Eigen::Vector3d::Zero()
	Coorindate of the origin point. More...

std::unordered_map< Eigen::Vector3i, Voxel, utility::hash_eigen::hash< Eigen::Vector3i > >	voxels_
	Voxels contained in voxel grid. More...

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry
enum	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
	Resizes the colors vector and paints a uniform color. More...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const
	Rotate all normals with the rotation matrix `R`. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

VoxelGrid is a collection of voxels which are aligned in grid.

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

open3d::geometry::VoxelGrid::VoxelGrid ( )

inline

Default Constructor.

◆ VoxelGrid() [2/2]

open3d::geometry::VoxelGrid::VoxelGrid ( const VoxelGrid & src_voxel_grid )

Copy Constructor.

◆ ~VoxelGrid()

open3d::geometry::VoxelGrid::~VoxelGrid ( )

inlineoverride

Member Function Documentation

◆ AddVoxel()

void open3d::geometry::VoxelGrid::AddVoxel ( const Voxel & voxel )

Add a voxel with specified grid index and color.

◆ CarveDepthMap()

VoxelGrid & open3d::geometry::VoxelGrid::CarveDepthMap	(	const Image &	depth_map,
		const camera::PinholeCameraParameters &	camera_parameter,
		bool	keep_voxels_outside_image
	)

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to depth value that is smaller, or equal than the projected depth of the boundary point. If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters

depth_map	Depth map (Image) used for VoxelGrid carving.
camera_parameter	Input Camera Parameters.
keep_voxels_outside_image	Project all voxels to a valid location.

◆ CarveSilhouette()

VoxelGrid & open3d::geometry::VoxelGrid::CarveSilhouette	(	const Image &	silhouette_mask,
		const camera::PinholeCameraParameters &	camera_parameter,
		bool	keep_voxels_outside_image
	)

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to a valid mask pixel (pixel value > 0). If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters

silhouette_mask	Silhouette mask (Image) used for VoxelGrid carving.
camera_parameter	Input Camera Parameters.
keep_voxels_outside_image	Project all voxels to a valid location.

◆ CheckIfIncluded()

std::vector< bool > open3d::geometry::VoxelGrid::CheckIfIncluded ( const std::vector< Eigen::Vector3d > & queries )

Element-wise check if a query in the list is included in the VoxelGrid Queries are double precision and are mapped to the closest voxel.

◆ Clear()

VoxelGrid & open3d::geometry::VoxelGrid::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ CreateDense()

std::shared_ptr< VoxelGrid > open3d::geometry::VoxelGrid::CreateDense	(	const Eigen::Vector3d &	origin,
		double	voxel_size,
		double	width,
		double	height,
		double	depth
	)

static

Creates a voxel grid where every voxel is set (hence dense). This is a useful starting point for voxel carving.

Parameters

origin	Coordinate center of the VoxelGrid
voxel_size	Voxel size of of the VoxelGrid construction.
width	Spatial width extend of the VoxelGrid.
height	Spatial height extend of the VoxelGrid.
depth	Spatial depth extend of the VoxelGrid.

◆ CreateFromOctree()

void open3d::geometry::VoxelGrid::CreateFromOctree ( const Octree & octree )

Create VoxelGrid from Octree

Parameters

octree The input Octree.

◆ CreateFromPointCloud()

std::shared_ptr< VoxelGrid > open3d::geometry::VoxelGrid::CreateFromPointCloud	(	const PointCloud &	input,
		double	voxel_size
	)

static

Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are computed from the PointCloud.

Parameters

input	The input PointCloud.
voxel_size	Voxel size of of the VoxelGrid construction.

◆ CreateFromPointCloudWithinBounds()

std::shared_ptr< VoxelGrid > open3d::geometry::VoxelGrid::CreateFromPointCloudWithinBounds	(	const PointCloud &	input,
		double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

static

Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are defined by the given parameters.

Parameters

input	The input PointCloud.
voxel_size	Voxel size of of the VoxelGrid construction.
min_bound	Minimum boundary point for the VoxelGrid to create.
max_bound	Maximum boundary point for the VoxelGrid to create.

◆ CreateFromTriangleMesh()

std::shared_ptr< VoxelGrid > open3d::geometry::VoxelGrid::CreateFromTriangleMesh	(	const TriangleMesh &	input,
		double	voxel_size
	)

static

Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are computed from the TriangleMesh.

Parameters

input	The input TriangleMesh.
voxel_size	Voxel size of of the VoxelGrid construction.

◆ CreateFromTriangleMeshWithinBounds()

std::shared_ptr< VoxelGrid > open3d::geometry::VoxelGrid::CreateFromTriangleMeshWithinBounds	(	const TriangleMesh &	input,
		double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

static

Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are defined by the given parameters..

Parameters

input	The input TriangleMesh.
voxel_size	Voxel size of of the VoxelGrid construction.
min_bound	Minimum boundary point for the VoxelGrid to create.
max_bound	Maximum boundary point for the VoxelGrid to create.

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox open3d::geometry::VoxelGrid::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Returns an axis-aligned bounding box of the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::VoxelGrid::GetOrientedBoundingBox ( ) const

overridevirtual

Returns an oriented bounding box of the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetVoxel()

Eigen::Vector3i open3d::geometry::VoxelGrid::GetVoxel ( const Eigen::Vector3d & point ) const

Returns voxel index given query point.

◆ GetVoxelBoundingPoints()

std::vector< Eigen::Vector3d > open3d::geometry::VoxelGrid::GetVoxelBoundingPoints ( const Eigen::Vector3i & index ) const

Return a vector of 3D coordinates that define the indexed voxel cube.

◆ GetVoxelCenterCoordinate()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetVoxelCenterCoordinate ( const Eigen::Vector3i & idx ) const

inline

Function that returns the 3d coordinates of the queried voxel center.

◆ GetVoxels()

std::vector< Voxel > open3d::geometry::VoxelGrid::GetVoxels ( ) const

Returns List of Voxel: Voxels contained in voxel grid. Changes to the voxels returned from this method are not reflected in the voxel grid.

◆ HasColors()

bool open3d::geometry::VoxelGrid::HasColors ( ) const

inline

Returns true if the voxel grid contains voxel colors.

◆ HasVoxels()

bool open3d::geometry::VoxelGrid::HasVoxels ( ) const

inline

Returns true if the voxel grid contains voxels.

◆ IsEmpty()

bool open3d::geometry::VoxelGrid::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ operator+()

VoxelGrid open3d::geometry::VoxelGrid::operator+ ( const VoxelGrid & voxelgrid ) const

◆ operator+=()

VoxelGrid & open3d::geometry::VoxelGrid::operator+= ( const VoxelGrid & voxelgrid )

◆ Rotate()

VoxelGrid & open3d::geometry::VoxelGrid::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

VoxelGrid & open3d::geometry::VoxelGrid::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor $s$ , and center $c$ , a given point $p$ is transformed according to $s (p - c) + c$ .

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ ToOctree()

std::shared_ptr< geometry::Octree > open3d::geometry::VoxelGrid::ToOctree ( const size_t & max_depth ) const

Convert to Octree.

Parameters

max_depth Maximum depth of the octree.

◆ Transform()

VoxelGrid & open3d::geometry::VoxelGrid::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ Translate()

VoxelGrid & open3d::geometry::VoxelGrid::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Implements open3d::geometry::Geometry3D.

Field Documentation

◆ origin_

Eigen::Vector3d open3d::geometry::VoxelGrid::origin_ = Eigen::Vector3d::Zero()

Coorindate of the origin point.

◆ voxel_size_

double open3d::geometry::VoxelGrid::voxel_size_ = 0.0

Size of the voxel.

◆ voxels_

std::unordered_map<Eigen::Vector3i, Voxel, utility::hash_eigen::hash<Eigen::Vector3i> > open3d::geometry::VoxelGrid::voxels_

Voxels contained in voxel grid.

The documentation for this class was generated from the following files:

/home/yixing/repo/Open3D/src/Open3D/Geometry/VoxelGrid.h
/home/yixing/repo/Open3D/src/Open3D/Geometry/VoxelGrid.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/VoxelGridFactory.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

◆ VoxelGrid() [2/2]

◆ ~VoxelGrid()

Member Function Documentation

◆ AddVoxel()

◆ CarveDepthMap()

◆ CarveSilhouette()

◆ CheckIfIncluded()

◆ Clear()

◆ CreateDense()

◆ CreateFromOctree()

◆ CreateFromPointCloud()

◆ CreateFromPointCloudWithinBounds()

◆ CreateFromTriangleMesh()

◆ CreateFromTriangleMeshWithinBounds()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ GetVoxel()

◆ GetVoxelBoundingPoints()

◆ GetVoxelCenterCoordinate()

◆ GetVoxels()

◆ HasColors()

◆ HasVoxels()

◆ IsEmpty()

◆ operator+()

◆ operator+=()

◆ Rotate()

◆ Scale()

◆ ToOctree()

◆ Transform()

◆ Translate()

Field Documentation

◆ origin_

◆ voxel_size_

◆ voxels_