#include <VoxelGrid.h>

Inheritance diagram for open3d::geometry::VoxelGrid:

Public Member Functions
	VoxelGrid ()

	VoxelGrid (const VoxelGrid &src_voxel_grid)

	~VoxelGrid () override

VoxelGrid &	Clear () override

bool	IsEmpty () const override

Eigen::Vector3d	GetMinBound () const override

Eigen::Vector3d	GetMaxBound () const override

Eigen::Vector3d	GetCenter () const override

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

OrientedBoundingBox	GetOrientedBoundingBox () const override

VoxelGrid &	Transform (const Eigen::Matrix4d &transformation) override

VoxelGrid &	Translate (const Eigen::Vector3d &translation, bool relative=true) override

VoxelGrid &	Scale (const double scale, bool center=true) override

VoxelGrid &	Rotate (const Eigen::Vector3d &rotation, bool center=true, RotationType type=RotationType::XYZ) override

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 (int idx) const

std::vector< Eigen::Vector3d >	GetVoxelBoundingPoints (int index) const
	Return a vector of 3D coordinates that define the indexed voxel cube. More...

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

int	Dimension () const

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)

Data Fields
double	voxel_size_

Eigen::Vector3d	origin_

std::vector< Voxel >	voxels_

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry3D
enum	RotationType { RotationType::XYZ, RotationType::YZX, RotationType::ZXY, RotationType::XZY, RotationType::ZYX, RotationType::YXZ, RotationType::AxisAngle }

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::TriangleMesh = 5, GeometryType::HalfEdgeTriangleMesh = 6, GeometryType::Image = 7, GeometryType::RGBDImage = 8, GeometryType::TetraMesh = 9, GeometryType::OrientedBoundingBox = 10, GeometryType::AxisAlignedBoundingBox = 11 }

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, bool center) const

void	RotatePoints (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &points, bool center, RotationType type) const

void	RotateNormals (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &normals, bool center, RotationType type) const

Eigen::Matrix3d	GetRotationMatrix (const Eigen::Vector3d &rotation, RotationType type=RotationType::XYZ) const

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)

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

◆ 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.

◆ Clear()

VoxelGrid & open3d::geometry::VoxelGrid::Clear ( )

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetCenter ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetMaxBound ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetMinBound ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::VoxelGrid::GetOrientedBoundingBox ( ) const

overridevirtual

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 ( int index ) const

Return a vector of 3D coordinates that define the indexed voxel cube.

◆ GetVoxelCenterCoordinate()

Eigen::Vector3d open3d::geometry::VoxelGrid::GetVoxelCenterCoordinate ( int 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

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::Vector3d &	rotation,
		bool	center = `true`,
		RotationType	type = `RotationType::XYZ`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Scale()

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

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

VoxelGrid & open3d::geometry::VoxelGrid::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

Field Documentation

◆ origin_

Eigen::Vector3d open3d::geometry::VoxelGrid::origin_

◆ voxel_size_

double open3d::geometry::VoxelGrid::voxel_size_

◆ voxels_

std::vector<Voxel> 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

◆ CarveDepthMap()

◆ CarveSilhouette()

◆ 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_