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: 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: open3d.cpu.pybind.geometry.VoxelGrid) -> None
Default constructor
__init__(self: open3d.cpu.pybind.geometry.VoxelGrid, arg0: open3d.cpu.pybind.geometry.VoxelGrid) -> None
Copy constructor
- add_voxel(self, voxel)#
Add a new voxel into the VoxelGrid.
- Parameters:
voxel (open3d.geometry.Voxel) –
- Returns:
None
- carve_depth_map(self, depth_map, camera_params, keep_voxels_outside_image=False)#
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. If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.
- Parameters:
depth_map (open3d.geometry.Image) – Depth map (Image) used for VoxelGrid carving.
camera_params (open3d.camera.PinholeCameraParameters) –
keep_voxels_outside_image (bool, optional, default=False) – retain voxels that don’t project to pixels in the image
- Returns:
open3d.geometry.VoxelGrid
- carve_silhouette(self, silhouette_mask, camera_params, keep_voxels_outside_image=False)#
Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to a valid mask pixel (pixel value > 0). If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.
- Parameters:
silhouette_mask (open3d.geometry.Image) – Silhouette mask (Image) used for VoxelGrid carving.
camera_params (open3d.camera.PinholeCameraParameters) –
keep_voxels_outside_image (bool, optional, default=False) – retain voxels that don’t project to pixels in the image
- Returns:
open3d.geometry.VoxelGrid
- check_if_included(self, queries)#
Element-wise check if a query in the list is included in the VoxelGrid. Queries are double precision and are mapped to the closest voxel.
- Parameters:
queries (open3d.utility.Vector3dVector) –
- Returns:
List[bool]
- clear(self)#
Clear all elements in the geometry.
- Returns:
open3d.geometry.Geometry
- static create_dense(origin, color, 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[numpy.float64[3, 1]]) – Coordinate center of the VoxelGrid
color (numpy.ndarray[numpy.float64[3, 1]]) – Voxel color for all voxels if 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, octree)#
Convert from Octree.
- Parameters:
octree (open3d.geometry.Octree) – geometry.Octree: The source octree.
- Returns:
None
- static create_from_point_cloud(input, voxel_size)#
Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are computed from the 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)#
Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are defined by the given parameters.
- Parameters:
input (open3d.geometry.PointCloud) – The input PointCloud
voxel_size (float) – Voxel size of of the VoxelGrid construction.
min_bound (numpy.ndarray[numpy.float64[3, 1]]) – Minimum boundary point for the VoxelGrid to create.
max_bound (numpy.ndarray[numpy.float64[3, 1]]) – Maximum boundary point for the VoxelGrid to create.
- Returns:
open3d.geometry.VoxelGrid
- static create_from_triangle_mesh(input, voxel_size)#
Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are computed from the 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)#
Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are defined by the given parameters
- Parameters:
input (open3d.geometry.TriangleMesh) – The input TriangleMesh
voxel_size (float) – Voxel size of of the VoxelGrid construction.
min_bound (numpy.ndarray[numpy.float64[3, 1]]) – Minimum boundary point for the VoxelGrid to create.
max_bound (numpy.ndarray[numpy.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[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_minimal_oriented_bounding_box(self: open3d.cpu.pybind.geometry.Geometry3D, robust: bool = False) open3d::geometry::OrientedBoundingBox #
Returns the minimal oriented bounding box for the geometry.
Creates the oriented bounding box with the smallest volume. The algorithm makes use of the fact that at least one edge of the convex hull must be collinear with an edge of the minimum bounding box: for each triangle in the convex hull, calculate the minimal axis aligned box in the frame of that triangle. at the end, return the box with the smallest volume
- Parameters:
robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.
- Returns:
The oriented bounding box. The bounding box is oriented such that its volume is minimized.
- Return type:
- get_oriented_bounding_box(self: open3d.cpu.pybind.geometry.Geometry3D, robust: bool = False) open3d::geometry::OrientedBoundingBox #
Returns the oriented bounding box for the geometry.
Computes the oriented bounding box based on the PCA of the convex hull. The returned bounding box is an approximation to the minimal bounding box.
- Parameters:
robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.
- Returns:
The oriented bounding box. The bounding box is oriented such that the axes are ordered with respect to the principal components.
- Return type:
- 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]] #
- get_voxel(self, point)#
Returns voxel index given query point.
- Parameters:
point (numpy.ndarray[numpy.float64[3, 1]]) – The query point.
- Returns:
numpy.ndarray[numpy.int32[3, 1]]
- get_voxel_bounding_points(self, index)#
Returns the 8 bounding points of a voxel given its grid index.
- Parameters:
index (numpy.ndarray[numpy.int32[3, 1]]) – The grid index of the query voxel.
- Returns:
open3d.utility.Vector3dVector
- get_voxel_center_coordinate(self, idx)#
Returns the center coordinate of a voxel given its grid index.
- Parameters:
idx (numpy.ndarray[numpy.int32[3, 1]]) – The grid index of the query voxel.
- Returns:
numpy.ndarray[numpy.float64[3, 1]]
- get_voxels(self: open3d.cpu.pybind.geometry.VoxelGrid) List[open3d.cpu.pybind.geometry.Voxel] #
Returns List of
Voxel
: Voxels contained in voxel grid. Changes to the voxels returned from this methodare not reflected in the voxel grid.
- 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
- remove_voxel(self, idx)#
Remove a voxel given index.
- Parameters:
idx (numpy.ndarray[numpy.int32[3, 1]]) – The grid index of the target voxel.
- Returns:
None
- 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_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[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
- 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 origin#
Coordinate of the origin point.
- Type:
float64
vector of length 3
- property voxel_size#
float64
Size of the voxel.