Octree

octree_find_leaf.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    N = 2000
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(N)
    # Fit to unit cube.
    pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
              center=pcd.get_center())
    pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
                                                              size=(N, 3)))

    octree = o3d.geometry.Octree(max_depth=4)
    octree.convert_from_point_cloud(pcd, size_expand=0.01)
    print('Displaying input octree ...')
    o3d.visualization.draw([octree])
    print('Finding leaf node containing the first point of pointcloud ...')
    print(octree.locate_leaf_node(pcd.points[0]))

octree_from_voxel_grid.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    N = 2000
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(N)
    # Fit to unit cube.
    pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
              center=pcd.get_center())
    pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
                                                              size=(N, 3)))
    print('Displaying input voxel grid ...')
    voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcd,
                                                                voxel_size=0.05)
    o3d.visualization.draw([voxel_grid])

    octree = o3d.geometry.Octree(max_depth=4)
    octree.create_from_voxel_grid(voxel_grid)
    print('Displaying octree ..')
    o3d.visualization.draw([octree])

octree_point_cloud.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    N = 2000
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(N)
    # Fit to unit cube.
    pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
              center=pcd.get_center())
    pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
                                                              size=(N, 3)))
    print('Displaying input pointcloud ...')
    o3d.visualization.draw([pcd])

    octree = o3d.geometry.Octree(max_depth=4)
    octree.convert_from_point_cloud(pcd, size_expand=0.01)
    print('Displaying octree ..')
    o3d.visualization.draw([octree])

octree_traversal.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------

import open3d as o3d
import numpy as np


def f_traverse(node, node_info):
    early_stop = False

    if isinstance(node, o3d.geometry.OctreeInternalNode):
        if isinstance(node, o3d.geometry.OctreeInternalPointNode):
            n = 0
            for child in node.children:
                if child is not None:
                    n += 1
            print(
                "{}{}: Internal node at depth {} has {} children and {} points ({})"
                .format('    ' * node_info.depth,
                        node_info.child_index, node_info.depth, n,
                        len(node.indices), node_info.origin))

            # We only want to process nodes / spatial regions with enough points.
            early_stop = len(node.indices) < 250
    elif isinstance(node, o3d.geometry.OctreeLeafNode):
        if isinstance(node, o3d.geometry.OctreePointColorLeafNode):
            print("{}{}: Leaf node at depth {} has {} points with origin {}".
                  format('    ' * node_info.depth, node_info.child_index,
                         node_info.depth, len(node.indices), node_info.origin))
    else:
        raise NotImplementedError('Node type not recognized!')

    # Early stopping: if True, traversal of children of the current node will be skipped.
    return early_stop


if __name__ == "__main__":
    N = 2000
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(N)
    # Fit to unit cube.
    pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
              center=pcd.get_center())
    pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
                                                              size=(N, 3)))

    octree = o3d.geometry.Octree(max_depth=4)
    octree.convert_from_point_cloud(pcd, size_expand=0.01)
    print('Displaying input octree ...')
    o3d.visualization.draw([octree])
    print('Traversing octree ...')
    octree.traverse(f_traverse)