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Add feature to choose voxel color mode when creating VoxelGrid from PointCloud #6937

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merged 8 commits into from
Dec 19, 2024

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rxba
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@rxba rxba commented Aug 28, 2024

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Motivation and Context

Creating a VoxelGrid with VoxelGrid.create_from_point_cloud or VoxelGrid.create_from_point_cloud_within_bounds currently always averages the colors of each point per voxel.
This is a sane default, yet might not always be desired, for example for MRI reconstruction as described in the linked issue.
This PR adds the feature of choosing a mode of determining the color per voxel when creating a VoxelGrid:

  • avg - average color value (default)
  • min - minimum color value for each color channel
  • max - maximum color value for each color channel
  • sum - accumulated color value

Checklist:

  • I have run python util/check_style.py --apply to apply Open3D code style
    to my code.
  • This PR changes Open3D behavior or adds new functionality.
    • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
      updated accordingly.
    • I have added or updated C++ and / or Python unit tests OR included test
      results
      (e.g. screenshots or numbers) here.
  • I will follow up and update the code if CI fails.
  • For fork PRs, I have selected Allow edits from maintainers.

Description

I've made the following changes:

  • VoxelGrid.create_from_point_cloud and VoxelGrid.create_from_point_cloud_within_bounds take an additional optional parameter color_mode, defined by the enum VoxelGrid::VoxelColorMode, which determines the way colors are assigned to voxels (default behaviour is unchanged)
  • for this, I created the color aggregation helper class AggColorVoxel. This is basically AvgColorVoxel, but with the additional functionality of also being able to return the min, max and sum color value of the voxel (I did not remove AvgColorVoxel to not break existing code. However, it seemed unfitting to add min, max and sum functionality to this class considering its name and description. It's my first feature contribution, so I'm unsure of what to do with AvgColorVoxel, since technically this class could now be deprecated and replaced by AggColorVoxel.)
  • updated C++ and Python documentation
  • added a short sentence to the voxelization tutorial to describe this optional feature

Here are some examples (top left: AVG, top right: MIN, bottom left: MAX, bottom right: SUM):

Screenshot 2024-08-28 at 20 20 39
Screenshot 2024-08-28 at 20 34 06
Screenshot 2024-08-28 at 20 37 05

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/// \enum VoxelColorMode
///
/// \brief Possible ways of determining voxel color from PointCloud.
enum class VoxelColorMode { AVG, MIN, MAX, SUM };

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Possible nitpick: can we call this "VoxelPoolingMode" or "VoxelPoolingMethod" instead of "VoxelColorMode"?

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Thanks for the feedback! I'd tend to agree that "VoxelPoolingMode" is probably the better name, but I'll wait until a maintainer has had the chance to review the PR to get their feedback.

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@rxba Thanks for this feature contribution! It looks very useful.
@IDoCodingStuffs I agree, "VoxelPoolingMode" it is

@ssheorey ssheorey requested a review from benjaminum December 16, 2024 21:48
@benjaminum benjaminum merged commit ba2a6b1 into isl-org:main Dec 19, 2024
31 of 33 checks passed
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VoxelGrid.create_from_point_cloud should allow for choosing color reduction method other than avg
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