open3d.geometry.Octree¶

class open3d.geometry.Octree¶

Octree datastructure.

class Type¶

Enum class for Geometry types.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property value¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self)
Default constructor
__init__(self, arg0)
Copy constructor

Parameters: arg0 (open3d.geometry.Octree) –

__init__(self, max_depth)

Parameters: max_depth (int) –

__init__(self, max_depth, origin, size)

Parameters

max_depth (int) –
origin (numpy.ndarray[numpy.float64[3, 1]]) –
size (float) –

clear(self)¶

Clear all elements in the geometry.

Returns: open3d.geometry.Geometry

convert_from_point_cloud(self, point_cloud, size_expand=0.01)¶

Convert octree from point cloud.

Parameters

point_cloud (open3d.geometry.PointCloud) – Input point cloud.
size_expand (float, optional, default=0.01) – A small expansion size such that the octree is slightly bigger than the original point cloud bounds to accomodate all points.

Returns

None

create_from_voxel_grid(self)¶

Returns: None

dimension(self)¶

Returns whether the geometry is 2D or 3D.

Returns: int

get_axis_aligned_bounding_box(self)¶

Returns an axis-aligned bounding box of the geometry.

Returns: open3d.geometry.AxisAlignedBoundingBox

get_center(self)¶

Returns the center of the geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_geometry_type(self)¶

Returns one of registered geometry types.

Returns: open3d.geometry.Geometry.GeometryType

get_max_bound(self)¶

Returns max bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_min_bound(self)¶

Returns min bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_oriented_bounding_box(self)¶

Returns an oriented bounding box of the geometry.

Returns: open3d.geometry.OrientedBoundingBox

static get_rotation_matrix_from_axis_angle(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_quaternion(rotation: numpy.ndarray[numpy.float64[4, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xyz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xzy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yxz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yzx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zxy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zyx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

insert_point(self, point, f_init, f_update, fi_init=None, fi_update=None)¶

Insert a point to the octree.

Parameters

point (numpy.ndarray[numpy.float64[3, 1]]) – Coordinates of the point.
f_init (Callable[[], open3d.geometry.OctreeLeafNode]) –
f_update (Callable[[open3d.geometry.OctreeLeafNode], None]) –
fi_init (Callable[[], open3d.geometry.OctreeInternalNode], optional, default=None) –
fi_update (Callable[[open3d.geometry.OctreeInternalNode], None], optional, default=None) –

Returns

None

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

static is_point_in_bound(point, origin, size)¶

Return true if point within bound, that is, origin<= point < origin + size

Parameters

point (numpy.ndarray[numpy.float64[3, 1]]) – Coordinates of the point.
origin (numpy.ndarray[numpy.float64[3, 1]]) – Origin coordinates.
size (float) – Size of the Octree.

Returns

bool

locate_leaf_node(self, point)¶

Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside.

Parameters: point (numpy.ndarray[numpy.float64[3, 1]]) – Coordinates of the point.
Returns: Tuple[open3d.geometry.OctreeLeafNode, open3d.geometry.OctreeNodeInfo]

rotate(*args, **kwargs)¶

Overloaded function.

rotate(self, R)
Apply rotation to the geometry coordinates and normals.

Parameters: R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
Returns: open3d.geometry.Geometry3D

rotate(self, R, center)
Apply rotation to the geometry coordinates and normals.

Parameters

R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
center (numpy.ndarray[numpy.float64[3, 1]]) – Rotation center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(*args, **kwargs)¶

Overloaded function.

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

to_voxel_grid(self)¶

Convert to VoxelGrid.

Returns: open3d.geometry.VoxelGrid

transform(self, arg0)¶

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

Parameters: arg0 (numpy.ndarray[numpy.float64[4, 4]]) –
Returns: open3d.geometry.Geometry3D

translate(self, translation, relative=True)¶

Apply translation to the geometry coordinates.

Parameters

translation (numpy.ndarray[numpy.float64[3, 1]]) – A 3D vector to transform the geometry
relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns

open3d.geometry.Geometry3D

traverse(self: open3d.cpu.pybind.geometry.Octree, f: Callable[[open3d.cpu.pybind.geometry.OctreeNode, open3d.cpu.pybind.geometry.OctreeNodeInfo], bool]) → None¶: DFS traversal of the octree from the root, with a callback function f being called for each node.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property max_depth¶

Maximum depth of the octree. The depth is defined as the distance from the deepest leaf node to root. A tree with only the root node has depth 0.

Type: int

property origin¶

Global min bound (include). A point is within bound iff origin <= point < origin + size.

Type: (3, 1) float numpy array

property root_node¶

The root octree node.

Type: OctreeNode

property size¶

Outer bounding box edge size for the whole octree. A point is within bound iff origin <= point < origin + size.

Type: float