open3d.geometry.Octree

class open3d.geometry.Octree

Octree datastructure.

class Type

Enum class for Geometry types.

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: open3d.geometry.Octree) -> None

Default constructor

  1. __init__(self: open3d.geometry.Octree, arg0: open3d.geometry.Octree) -> None

Copy constructor

  1. __init__(self: open3d.geometry.Octree, max_depth: int) -> None

  2. __init__(self: open3d.geometry.Octree, max_depth: int, origin: numpy.ndarray[float64[3, 1]], size: float) -> None

clear(self)

Clear all elements in the geometry.

Returns

None

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 accmondate all points.

Returns

None

dimension(self)

Returns whether the geometry is 2D or 3D.

Returns

int

from_voxel_grid(self)
Returns

None

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[float64[3, 1]]

get_min_bound(self)

Returns min bounds for geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

insert_point(self, point, f_init, f_update)

Insert a point to the octree.

Parameters
Returns

None

is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

is_point_in_bound(point: numpy.ndarray[float64[3, 1]], origin: numpy.ndarray[float64[3, 1]], size: float) → bool

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

locate_leaf_node(self, point)

Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside.

Parameters

point (numpy.ndarray[float64[3, 1]]) – Coordinates of the point.

Returns

Tuple[open3d.geometry.OctreeLeafNode, open3d.geometry.OctreeNodeInfo]

rotate(self, rotation, center=True, type=RotationType.XYZ)

Apply rotation to the geometry coordinates and normals.

Parameters

  • rotation (numpy.ndarray[float64[3, 1]]) – A 3D vector that either defines the three angles for Euler rotation, or in the axis-angle representation the normalized vector defines the axis of rotation and the norm the angle around this axis.

  • center (bool, optional, default=True) – If true, then the rotation is applied to the centered geometry

  • type (open3d.geometry.RotationType, optional, default=RotationType.XYZ) – Type of rotation, i.e., an Euler format, or axis-angle.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center=True)

Apply scaling to the geometry coordinates.

Parameters

  • scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry

  • center (bool, optional, default=True) – If true, then the scale is applied to the centered geometry

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[float64[4, 4]]) –

Returns

open3d.geometry.Geometry3D

translate(self, arg0)

Apply translation to the geometry coordinates.

Parameters

arg0 (numpy.ndarray[float64[3, 1]]) –

Returns

open3d.geometry.Geometry3D

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
property max_depth

Maximum depth of the octree.

Type

int

property origin

Origin coordinate of the octree.

Type

(3, 1) float numpy array

property root_node

The root octree node.

Type

OctreeNode

property size

Size of the octree, i.e. the size of the outer bound.

Type

float