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
RGBDImage = Type.RGBDImage
TetraMesh = Type.TetraMesh
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
__init__(*args, **kwargs)

Overloaded function.

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

Default constructor

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

Copy constructor

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

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

clear(self)

Clear all elements in the geometry.

Returns

open3d.cpu.pybind.geometry.Geometry

convert_from_point_cloud(self, point_cloud, size_expand=0.01)

Convert octree from point cloud.

Parameters

  • point_cloud (open3d.cpu.pybind.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 accomodate all points.

Returns

None

create_from_voxel_grid(self)
Returns

None

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

static get_rotation_matrix_from_axis_angle(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_quaternion(rotation: numpy.ndarray[float64[4, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_xyz(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_xzy(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_yxz(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_yzx(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_zxy(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_zyx(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
insert_point(self, point, f_init, f_update)

Insert a point to the octree.

Parameters

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

  • f_init (Callable[[], open3d.cpu.pybind.geometry.OctreeLeafNode]) –

  • f_update (Callable[[open3d.cpu.pybind.geometry.OctreeLeafNode], None]) –

Returns

None

is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

static is_point_in_bound(point, origin, size)

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

Parameters

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

  • origin (numpy.ndarray[float64[3, 1]]) – Origin coordinates.

  • size (float) – Size of the Octree.

Returns

bool

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.cpu.pybind.geometry.OctreeLeafNode, open3d.cpu.pybind.geometry.OctreeNodeInfo]

Octree.rotate(R, R, center)

Apply rotation to the geometry coordinates and normals.

Parameters

  • R (numpy.ndarray[float64[3, 3]]) – The rotation matrix

  • R – The rotation matrix

  • center (numpy.ndarray[float64[3, 1]]) – Rotation center used for transformation

Returns

open3d.cpu.pybind.geometry.Geometry3D

Octree.scale(scale, center, 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[float64[3, 1]]) – Scale center used for transformation

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

  • center – Scale center used for transformation

Returns

open3d.cpu.pybind.geometry.Geometry3D

to_voxel_grid(self)

Convert to VoxelGrid.

Returns

open3d.cpu.pybind.geometry.VoxelGrid

transform(self, arg0)

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

Parameters

arg0 (numpy.ndarray[float64[4, 4]]) –

Returns

open3d.cpu.pybind.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.cpu.pybind.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 max_depth

Maximum depth of the octree. The depth is defined as the distance from the deepest leaf node to root. A tree with only the root node has depth 0.

Type

int

property origin

Global min bound (include). A point is within bound iff origin <= point < origin + size.

Type

(3, 1) float numpy array

property root_node

The root octree node.

Type

OctreeNode

property size

Outer bounding box edge size for the whole octree. A point is within bound iff origin <= point < origin + size.

Type

float