Fix VoxelGrid.voxels bug #1535 #1688

kosuke55 · 2020-04-07T15:46:54Z

I found a bug that can't use open3d.geometry.VoxelGrid.voxels same as #1535 .
Thanks to @noahstier, I changed to get voxels of unordered_map by function.

Without this PR

In [11]: voxel_grid.voxels
---------------------------------------------------------------------------
TypeError                                 Traceback (most recent call last)
<ipython-input-11-d7484a89cc11> in <module>()
----> 1 voxel_grid.voxels

TypeError: unhashable type: 'numpy.ndarray'

With this PR

In [11]:: voxel_grid.get_voxels()
[geometry::Voxel with grid_index: (16, 25, 12), color: (0.6, 0.654902, 0.623529),                                                                                                                                                     
 geometry::Voxel with grid_index: (27, 66, 22), color: (0.0666667, 0.0784314, 0.0745098),                                                                                                                                             
 geometry::Voxel with grid_index: (18, 12, 9), color: (0.660392, 0.697255, 0.680784),                                                                                                                                                 
 
...

This change is

update-docs · 2020-04-07T15:46:58Z

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

griegler

Thanks for this PR. Travis is failing because of the style check. Please see http://www.open3d.org/docs/release/contribute.html#automated-style-checker and run make apply-style.

Reviewed 3 of 3 files at r1.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @kosuke55)

src/Open3D/Geometry/VoxelGrid.h, line 240 at r1 (raw file):

            const Eigen::Vector3d &max_bound);

    std::vector<Voxel> Voxels();

GetVoxels instead of Voxels would be more consistent with the naming scheme.
Please add documentation. For an example see the method CreateFromTriangleMeshWithinBounds above.
Can we make this method const

src/Python/open3d_pybind/geometry/voxelgrid.cpp, line 89 at r1 (raw file):

            .def(py::self += py::self)
            .def("voxels", &geometry::VoxelGrid::Voxels,
                           "List of ``Voxel``: Voxels contained in voxel grid")

I think it would be good to mention that changes to the voxels returned from this method are not reflected in the voxel grid.

kosuke55 · 2020-04-08T08:20:10Z

@griegler
Thank you for the review. Please check it again because I fixed.

griegler

Reviewed 3 of 3 files at r2.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @kosuke55)

src/Open3D/Geometry/VoxelGrid.h, line 242 at r2 (raw file):

    // Returns List of ``Voxel``: Voxels contained in voxel grid.
    // Changes to the voxels returned from this method
    // are not reflected in the voxel grid.

The doc is already better, but could you please format it in the style of the example below:

    /// Creates a VoxelGrid from a given TriangleMesh. No color information is
    /// converted. The bounds of the created VoxelGrid are defined by the given
    /// parameters..
    ///
    /// \param input The input TriangleMesh.
    /// \param voxel_size Voxel size of of the VoxelGrid construction.
    /// \param min_bound Minimum boundary point for the VoxelGrid to create.
    /// \param max_bound Maximum boundary point for the VoxelGrid to create.

kosuke55 · 2020-04-10T07:30:40Z

@griegler
I added one more / to the doc.

griegler

Reviewed 1 of 1 files at r3.
Reviewable status: complete! all files reviewed, all discussions resolved

amisaw · 2020-06-02T00:48:19Z

Hi, I have pulled the latest version of the master branch and I'm still having this error when trying to use np.asarray(vox_grid.voxels)) or vox_grid.voxels
TypeError: unhashable type: 'numpy.ndarray'.

Any suggestions?

kosuke55 · 2020-06-02T05:09:37Z

@amisaw
In this PR, voxels is deprecated and can now be retrieved by get_voxels() instead.
If you have the latest version, please do

voxel_grid.get_voxels()

amisaw · 2020-06-02T15:14:09Z

Thanks for the response! However when I try voxel_grid.get_voxels(), I get this error:
*** AttributeError: 'open3d.open3d.geometry.VoxelGrid' object has no attribute 'get_voxels'

Note: I have pulled the latest version of Master. I also tried checking out the c513cd0 commit but I'm still getting the above error. Any suggestions?

noahstier · 2020-06-02T16:34:59Z

Is it possible you didn’t rebuild the library and python package, or maybe you did but didn’t reinstall the new python package?

…

On Tue, Jun 2, 2020 at 8:14 AM amisaw ***@***.***> wrote: Thanks for the response! However when I try voxel_grid.get_voxels(), I get this error: *** AttributeError: 'open3d.open3d.geometry.VoxelGrid' object has no attribute 'get_voxels' — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#1688 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AB4RXS23Z4QNVTUCZ45FDGDRUUJNFANCNFSM4MDHB5RQ> .

amisaw · 2020-06-02T17:26:57Z

Hello- thanks for the response. I'm actually using open3d version 0.9.0 because when I try to use 0.10.0 I get the following error and am unable to import open3D: "from open3d.open3d_pybind import camera ImportError: /lib/x86_64-linux-gnu/libm.so.6: version `GLIBC_2.27' not found (required by /home/test2/envs/testo3d/lib/python3.6/site-packages/open3d/ open3d_pybind.cpython-36m-x86_64-linux-gnu.so)" Any help would be really appreciated!

…

On Tue, Jun 2, 2020 at 12:35 PM Noah Stier ***@***.***> wrote: Is it possible you didn’t rebuild the library and python package, or maybe you did but didn’t reinstall the new python package? On Tue, Jun 2, 2020 at 8:14 AM amisaw ***@***.***> wrote: > Thanks for the response! However when I try voxel_grid.get_voxels(), I get > this error: > *** AttributeError: 'open3d.open3d.geometry.VoxelGrid' object has no > attribute 'get_voxels' > > — > You are receiving this because you were mentioned. > Reply to this email directly, view it on GitHub > <#1688 (comment)>, > or unsubscribe > < https://github.com/notifications/unsubscribe-auth/AB4RXS23Z4QNVTUCZ45FDGDRUUJNFANCNFSM4MDHB5RQ > > . > — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#1688 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ANIE3DEBIGTHBMVNLALWOLDRUUS4HANCNFSM4MDHB5RQ> .

kosuke55 · 2020-06-02T17:42:22Z

@amisaw
This is another issue, version 0.10.0 does not support ubuntu16.04 like #1898
To use get_voxels() on 16.04, go back to the past commit or use my branch.

amisaw · 2020-06-03T14:30:02Z

Ok, thank you for the help!

…

On Tue, Jun 2, 2020 at 1:44 PM Kosuke Takeuchi ***@***.***> wrote: @amisaw <https://github.com/amisaw> This is another issue, version 0.10.0 does not support ubuntu16.04 like #1898 <#1898> To use get_voxels() on a branch of 16.04, go back to the past commit or use my branch <https://github.com/kosuke55/Open3D/tree/hotfix/voxels>. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#1688 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ANIE3DDOPIJMVZIQZBALLK3RUU253ANCNFSM4MDHB5RQ> .

griegler suggested changes Apr 7, 2020

View reviewed changes

kosuke55 force-pushed the hotfix/voxels branch from 813fc22 to 89b1359 Compare April 8, 2020 08:14

kosuke55 force-pushed the hotfix/voxels branch from 89b1359 to 8df52ad Compare April 8, 2020 08:22

griegler suggested changes Apr 10, 2020

View reviewed changes

kosuke55 force-pushed the hotfix/voxels branch from 8df52ad to fe666a8 Compare April 10, 2020 07:22

Fix VoxelGrid.voxels bug isl-org#1535

2aad07f

kosuke55 force-pushed the hotfix/voxels branch from fe666a8 to 2aad07f Compare April 10, 2020 07:26

griegler approved these changes Apr 10, 2020

View reviewed changes

yxlao merged commit c513cd0 into isl-org:master Apr 12, 2020

kosuke55 deleted the hotfix/voxels branch June 2, 2020 16:32

kosuke55 restored the hotfix/voxels branch June 2, 2020 16:38

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Fix VoxelGrid.voxels bug #1535 #1688

Fix VoxelGrid.voxels bug #1535 #1688

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Fix VoxelGrid.voxels bug #1535 #1688

Fix VoxelGrid.voxels bug #1535 #1688

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