Fix VoxelGrid.voxels bug #1535

src/Open3D/Geometry/VoxelGrid.cpp

@@ -356,5 +356,14 @@ VoxelGrid &VoxelGrid::CarveSilhouette(
     return *this;
 }
 
+std::vector<Voxel> VoxelGrid::GetVoxels() const {
+    std::vector<Voxel> result;
+    result.reserve(voxels_.size());
+    for (const auto &keyval : voxels_) {
+        result.push_back(keyval.second);
+    }
+    return result;
+}
+
 }  // namespace geometry
 }  // namespace open3d

src/Open3D/Geometry/VoxelGrid.h

@@ -237,6 +237,11 @@ class VoxelGrid : public Geometry3D {
             const Eigen::Vector3d &min_bound,
             const Eigen::Vector3d &max_bound);
 
+    /// Returns List of ``Voxel``: Voxels contained in voxel grid.
+    /// Changes to the voxels returned from this method are not reflected in
+    /// the voxel grid.
+    std::vector<Voxel> GetVoxels() const;
+
 public:
     /// Size of the voxel.
     double voxel_size_ = 0.0;

src/Python/open3d_pybind/geometry/voxelgrid.cpp

@@ -85,8 +85,10 @@ void pybind_voxelgrid(py::module &m) {
                  })
             .def(py::self + py::self)
             .def(py::self += py::self)
-            .def_readwrite("voxels", &geometry::VoxelGrid::voxels_,
-                           "List of ``Voxel``: Voxels contained in voxel grid")
+            .def("get_voxels", &geometry::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", &geometry::VoxelGrid::HasColors,
                  "Returns ``True`` if the voxel grid contains voxel colors.")
             .def("has_voxels", &geometry::VoxelGrid::HasVoxels,