open3d.geometry.VoxelGrid¶

class open3d.geometry.VoxelGrid¶

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

class Type¶

Enum class for Geometry types.

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh¶

Image = Type.Image¶

LineSet = Type.LineSet¶

PointCloud = Type.PointCloud¶

RGBDImage = Type.RGBDImage¶

TetraMesh = Type.TetraMesh¶

TriangleMesh = Type.TriangleMesh¶

Unspecified = Type.Unspecified¶

VoxelGrid = Type.VoxelGrid¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.geometry.VoxelGrid) -> None

Default constructor

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

Copy constructor

carve_depth_map(self, depth_map, camera_params)¶

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. The point is not carved if none of the boundary points of the voxel projects to a valid image location.

Parameters

depth_map (open3d.geometry.Image) – Depth map (Image) used for VoxelGrid carving.
camera_params (open3d.camera.PinholeCameraParameters) –

Returns

open3d.geometry.VoxelGrid

carve_silhouette(self, silhouette_mask, camera_params)¶

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to a valid mask pixel (pixel value > 0). The point is not carved if none of the boundary points of the voxel projects to a valid image location.

Parameters

silhouette_mask (open3d.geometry.Image) – Silhouette mask (Image) used for VoxelGrid carving.
camera_params (open3d.camera.PinholeCameraParameters) –

Returns

open3d.geometry.VoxelGrid

clear(self)¶

Clear all elements in the geometry.

Returns: open3d.geometry.Geometry

static create_dense(origin, voxel_size, width, height, depth)¶

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

Parameters

origin (numpy.ndarray[float64[3, 1]]) – Coordinate center of the VoxelGrid
voxel_size (float) – Voxel size of of the VoxelGrid construction.
width (float) – Spatial width extend of the VoxelGrid.
height (float) – Spatial height extend of the VoxelGrid.
depth (float) – Spatial depth extend of the VoxelGrid.

Returns

open3d.geometry.VoxelGrid

create_from_octree(self)¶

Returns: None

static create_from_point_cloud(input, voxel_size)¶

Function to make voxels from a PointCloud

Parameters

input (open3d.geometry.PointCloud) – The input PointCloud
voxel_size (float) – Voxel size of of the VoxelGrid construction.

Returns

open3d.geometry.VoxelGrid

static create_from_point_cloud_within_bounds(input, voxel_size, min_bound, max_bound)¶

Function to make voxels from a PointCloud

Parameters

input (open3d.geometry.PointCloud) – The input PointCloud
voxel_size (float) – Voxel size of of the VoxelGrid construction.
min_bound (numpy.ndarray[float64[3, 1]]) – Minimum boundary point for the VoxelGrid to create.
max_bound (numpy.ndarray[float64[3, 1]]) – Maximum boundary point for the VoxelGrid to create.

Returns

open3d.geometry.VoxelGrid

static create_from_triangle_mesh(input, voxel_size)¶

Function to make voxels from a TriangleMesh

Parameters

input (open3d.geometry.TriangleMesh) – The input TriangleMesh
voxel_size (float) – Voxel size of of the VoxelGrid construction.

Returns

open3d.geometry.VoxelGrid

static create_from_triangle_mesh_within_bounds(input, voxel_size, min_bound, max_bound)¶

Function to make voxels from a PointCloud

Parameters

input (open3d.geometry.TriangleMesh) – The input TriangleMesh
voxel_size (float) – Voxel size of of the VoxelGrid construction.
min_bound (numpy.ndarray[float64[3, 1]]) – Minimum boundary point for the VoxelGrid to create.
max_bound (numpy.ndarray[float64[3, 1]]) – Maximum boundary point for the VoxelGrid to create.

Returns

open3d.geometry.VoxelGrid

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[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[float64[3, 1]]

get_min_bound(self)¶

Returns min bounds for geometry coordinates.

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

get_oriented_bounding_box(self)¶

Returns an oriented bounding box of the geometry.

Returns: open3d.geometry.OrientedBoundingBox

get_voxel(self, point)¶

Returns voxel index given query point.

Parameters: point (numpy.ndarray[float64[3, 1]]) – The query point.
Returns: numpy.ndarray[int32[3, 1]]

has_colors(self)¶

Returns True if the voxel grid contains voxel colors.

Returns: bool

has_voxels(self)¶

Returns True if the voxel grid contains voxels.

Returns: bool

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

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_octree(self, max_depth)¶

Convert to Octree.

Parameters: max_depth (int) – int: Maximum depth of the octree.
Returns: open3d.geometry.Octree

transform(self, arg0)¶

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

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

translate(self, translation, relative=True)¶

Apply translation to the geometry coordinates.

Parameters

translation (numpy.ndarray[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

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh¶

Image = Type.Image¶

LineSet = Type.LineSet¶

PointCloud = Type.PointCloud¶

RGBDImage = Type.RGBDImage¶

TetraMesh = Type.TetraMesh¶

TriangleMesh = Type.TriangleMesh¶

Unspecified = Type.Unspecified¶

VoxelGrid = Type.VoxelGrid¶

property origin¶

Coorindate of the origin point.

Type: float64 vector of length 3

property voxel_size¶

property voxels¶

Voxels contained in voxel grid

Type: List of Voxel