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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
if __name__ == "__main__":
N = 2000
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(N)
# Fit to unit cube.
pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
center=pcd.get_center())
pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
size=(N, 3)))
print('Displaying input point cloud ...')
o3d.visualization.draw([pcd])
print('Displaying voxel grid ...')
voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcd,
voxel_size=0.05)
o3d.visualization.draw([voxel_grid])
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