Voxelgrid from voxel + transformation ?

[StephaneKazmierczak]

Hello, I am looking to apply transformations to a voxel from a numpy array.

Ex :

array([[[0, 0, 0],
        [0, 0, 0],
        [1, 0, 0]],

       [[0, 0, 0],
        [0, 0, 0],
        [0, 0, 0]],

       [[0, 0, 0],
        [0, 0, 0],
        [0, 1, 1]]])

Is there an object that would take the above representation and then allow for transformation (rotation/flip). I have looked at the documentation but it doesn;t seems the voxelgrid works like that.

[ssheorey]

Hi @StephaneKazmierczak are you looking to transform the entire voxel grid? What does the NumPy array represent?

from open3d.geometry import VoxelGrid, PointCloud
pcd = PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)   # xyz is a (N,3) numpy array
vg = VoxelGrid.create_from_point_cloud(pcd, voxel_size)
vg.transform(transform_matrix_4x4)

[saurabheights]

@ssheorey This wont work. Translation and rotation are not yet defined for Voxelgrid (See https://github.com/isl-org/Open3D/blob/master/cpp/open3d/geometry/VoxelGrid.cpp#L98).

[ssheorey]

Hey nice catch! Yes, this is something we would need to VoxelGrid.