#include <VoxelGrid.h>

Inheritance diagram for open3d::geometry::VoxelGrid:

Public Member Functions
	VoxelGrid ()

	VoxelGrid (const VoxelGrid &src_voxel_grid)

	~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, bool center=true) override
	Apply scaling to the geometry coordinates. More...

VoxelGrid &	Rotate (const Eigen::Matrix3d &R, bool center=true) override
	Apply rotation to the geometry coordinates and normals. More...

VoxelGrid &	operator+= (const VoxelGrid &voxelgrid)

VoxelGrid	operator+ (const VoxelGrid &voxelgrid) const

bool	HasVoxels () const

bool	HasColors () const

Eigen::Vector3i	GetVoxel (const Eigen::Vector3d &point) const

Eigen::Vector3d	GetVoxelCenterCoordinate (const Eigen::Vector3i &idx) const

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)

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

void	CreateFromOctree (const Octree &octree)

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

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

Eigen::Vector3d	origin_ = Eigen::Vector3d::Zero()

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

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, bool 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, bool center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals, bool center) 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...

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

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

inline

◆ VoxelGrid() [2/2]

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

◆ ~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
	)

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.

◆ CarveSilhouette()

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

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.

◆ CheckIfIncluded()

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

◆ 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

◆ CreateFromOctree()

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

◆ CreateFromPointCloud()

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

static

◆ 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

◆ CreateFromTriangleMesh()

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

static

◆ 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

◆ 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

◆ 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

◆ HasColors()

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

inline

◆ HasVoxels()

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

inline

◆ 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,
		bool	center = `true`
	)

overridevirtual

Apply rotation to the geometry coordinates and normals.

Parameters

R	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	If `true`, the rotation is applied relative to the center of the geometry. Otherwise, the rotation is directly applied to the geometry, i.e. relative to the origin.

Implements open3d::geometry::Geometry3D.

◆ Scale()

VoxelGrid & open3d::geometry::VoxelGrid::Scale	(	const double	scale,
		bool	center = `true`
	)

overridevirtual

Apply scaling to the geometry coordinates.

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	If `true`, the scale is applied relative to the center of the geometry. Otherwise, the scale is directly applied to the geometry, i.e. relative to the origin.

Implements open3d::geometry::Geometry3D.

◆ ToOctree()

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

◆ 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()

◆ voxel_size_

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

◆ voxels_

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

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

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()

◆ HasColors()

◆ HasVoxels()

◆ IsEmpty()

◆ operator+()

◆ operator+=()

◆ Rotate()

◆ Scale()

◆ ToOctree()

◆ Transform()

◆ Translate()

Field Documentation

◆ origin_

◆ voxel_size_

◆ voxels_