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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/geometry/VoxelGrid.h"
#include <sstream>
#include "open3d/camera/PinholeCameraParameters.h"
#include "open3d/geometry/Image.h"
#include "open3d/geometry/Octree.h"
#include "open3d/geometry/PointCloud.h"
#include "pybind/docstring.h"
#include "pybind/geometry/geometry.h"
#include "pybind/geometry/geometry_trampoline.h"
namespace open3d {
namespace geometry {
void pybind_voxelgrid(py::module &m) {
py::class_<Voxel, std::shared_ptr<Voxel>> voxel(
m, "Voxel", "Base Voxel class, containing grid id and color");
py::detail::bind_default_constructor<Voxel>(voxel);
py::detail::bind_copy_functions<Voxel>(voxel);
voxel.def("__repr__",
[](const Voxel &voxel) {
std::ostringstream repr;
repr << "Voxel with grid_index: (" << voxel.grid_index_(0)
<< ", " << voxel.grid_index_(1) << ", "
<< voxel.grid_index_(2) << "), color: ("
<< voxel.color_(0) << ", " << voxel.color_(1) << ", "
<< voxel.color_(2) << ")";
return repr.str();
})
.def(py::init([](const Eigen::Vector3i &grid_index) {
return new Voxel(grid_index);
}),
"grid_index"_a)
.def(py::init([](const Eigen::Vector3i &grid_index,
const Eigen::Vector3d &color) {
return new Voxel(grid_index, color);
}),
"grid_index"_a, "color"_a)
.def_readwrite("grid_index", &Voxel::grid_index_,
"Int numpy array of shape (3,): Grid coordinate "
"index of the voxel.")
.def_readwrite(
"color", &Voxel::color_,
"Float64 numpy array of shape (3,): Color of the voxel.");
py::class_<VoxelGrid, PyGeometry3D<VoxelGrid>, std::shared_ptr<VoxelGrid>,
Geometry3D>
voxelgrid(m, "VoxelGrid",
"VoxelGrid is a collection of voxels which are aligned "
"in grid.");
py::detail::bind_default_constructor<VoxelGrid>(voxelgrid);
py::detail::bind_copy_functions<VoxelGrid>(voxelgrid);
voxelgrid
.def("__repr__",
[](const VoxelGrid &voxelgrid) {
return std::string("VoxelGrid with ") +
std::to_string(voxelgrid.voxels_.size()) +
" voxels.";
})
.def(py::self + py::self)
.def(py::self += py::self)
.def("get_voxels", &VoxelGrid::GetVoxels,
"Returns List of ``Voxel``: Voxels contained in voxel grid. "
"Changes to the voxels returned from this method"
"are not reflected in the voxel grid.")
.def("has_colors", &VoxelGrid::HasColors,
"Returns ``True`` if the voxel grid contains voxel colors.")
.def("has_voxels", &VoxelGrid::HasVoxels,
"Returns ``True`` if the voxel grid contains voxels.")
.def("get_voxel", &VoxelGrid::GetVoxel, "point"_a,
"Returns voxel index given query point.")
.def("check_if_included", &VoxelGrid::CheckIfIncluded, "queries"_a,
"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.")
.def("carve_depth_map", &VoxelGrid::CarveDepthMap, "depth_map"_a,
"camera_params"_a, "keep_voxels_outside_image"_a = 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.")
.def("carve_silhouette", &VoxelGrid::CarveSilhouette,
"silhouette_mask"_a, "camera_params"_a,
"keep_voxels_outside_image"_a = 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.")
.def("to_octree", &VoxelGrid::ToOctree, "max_depth"_a,
"Convert to Octree.")
.def("create_from_octree", &VoxelGrid::CreateFromOctree, "octree"_a,
"Convert from Octree.")
.def("get_voxel_center_coordinate",
&VoxelGrid::GetVoxelCenterCoordinate, "idx"_a,
"Returns the center coordinate of a voxel given its grid "
"index.")
.def("get_voxel_bounding_points",
&VoxelGrid::GetVoxelBoundingPoints, "index"_a,
"Returns the 8 bounding points of a voxel given its grid "
"index.")
.def_static("create_dense", &VoxelGrid::CreateDense,
"Creates a voxel grid where every voxel is set (hence "
"dense). This is a useful starting point for voxel "
"carving",
"origin"_a, "color"_a, "voxel_size"_a, "width"_a,
"height"_a, "depth"_a)
.def_static("create_from_point_cloud",
&VoxelGrid::CreateFromPointCloud,
"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.",
"input"_a, "voxel_size"_a)
.def_static("create_from_point_cloud_within_bounds",
&VoxelGrid::CreateFromPointCloudWithinBounds,
"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.",
"input"_a, "voxel_size"_a, "min_bound"_a, "max_bound"_a)
.def_static("create_from_triangle_mesh",
&VoxelGrid::CreateFromTriangleMesh,
"Creates a VoxelGrid from a given TriangleMesh. No "
"color information is converted. The bounds of the "
"created VoxelGrid are computed from the "
"TriangleMesh.",
"input"_a, "voxel_size"_a)
.def_static(
"create_from_triangle_mesh_within_bounds",
&VoxelGrid::CreateFromTriangleMeshWithinBounds,
"Creates a VoxelGrid from a given TriangleMesh. No color "
"information is converted. The bounds "
"of the created VoxelGrid are defined by the given "
"parameters",
"input"_a, "voxel_size"_a, "min_bound"_a, "max_bound"_a)
.def_readwrite("origin", &VoxelGrid::origin_,
"``float64`` vector of length 3: Coorindate of the "
"origin point.")
.def_readwrite("voxel_size", &VoxelGrid::voxel_size_,
"``float64`` Size of the voxel.");
docstring::ClassMethodDocInject(m, "VoxelGrid", "has_colors");
docstring::ClassMethodDocInject(m, "VoxelGrid", "has_voxels");
docstring::ClassMethodDocInject(m, "VoxelGrid", "get_voxel",
{{"point", "The query point."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "check_if_included",
{{"query", "a list of voxel indices to check."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "carve_depth_map",
{{"depth_map", "Depth map (Image) used for VoxelGrid carving."},
{"camera_parameters",
"PinholeCameraParameters used to record the given depth_map."},
{"keep_voxels_outside_image",
"retain voxels that don't project"
" to pixels in the image"}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "carve_silhouette",
{{"silhouette_mask",
"Silhouette mask (Image) used for VoxelGrid carving."},
{"camera_parameters",
"PinholeCameraParameters used to record the given depth_map."},
{"keep_voxels_outside_image",
"retain voxels that don't project"
" to pixels in the image"}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "to_octree",
{{"max_depth", "int: Maximum depth of the octree."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_from_octree",
{{"octree", "geometry.Octree: The source octree."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "get_voxel_center_coordinate",
{{"idx", "The grid index of the query voxel."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "get_voxel_bounding_points",
{{"index", "The grid index of the query voxel."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_dense",
{{"origin", "Coordinate center of the VoxelGrid"},
{"color", "Voxel color for all voxels if the VoxelGrid."},
{"voxel_size", "Voxel size of of the VoxelGrid construction."},
{"width", "Spatial width extend of the VoxelGrid."},
{"height", "Spatial height extend of the VoxelGrid."},
{"depth", "Spatial depth extend of the VoxelGrid."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_from_point_cloud",
{{"input", "The input PointCloud"},
{"voxel_size", "Voxel size of of the VoxelGrid construction."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_from_point_cloud_within_bounds",
{{"input", "The input PointCloud"},
{"voxel_size", "Voxel size of of the VoxelGrid construction."},
{"min_bound",
"Minimum boundary point for the VoxelGrid to create."},
{"max_bound",
"Maximum boundary point for the VoxelGrid to create."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_from_triangle_mesh",
{{"input", "The input TriangleMesh"},
{"voxel_size", "Voxel size of of the VoxelGrid construction."}});
docstring::ClassMethodDocInject(
m, "VoxelGrid", "create_from_triangle_mesh_within_bounds",
{{"input", "The input TriangleMesh"},
{"voxel_size", "Voxel size of of the VoxelGrid construction."},
{"min_bound",
"Minimum boundary point for the VoxelGrid to create."},
{"max_bound",
"Maximum boundary point for the VoxelGrid to create."}});
}
void pybind_voxelgrid_methods(py::module &m) {}
} // namespace geometry
} // namespace open3d
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