isl-org / isl-org/Open3D

`VoxelGrid.create_from_point_cloud_within_bounds` does not care for bounds

Open
#4,569 1 comment 2 reactions 0 assignees View on GitHub
bug geometry legacy (Open3D 0.x API) voxelgrid
Dominant language
C++
Stars
14k
Forks
2.6k
Avg merge
5d 18h
Merged PRs (30d)
6

Description

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

The documentation explains that the parameters `min_bound` and `max_bound` for the function
should crop the point cloud within bounds (at least in my understanding).

I don't see any impact of the bounds, as illustrated in the above example.

### Steps to reproduce the bug

```python
import open3d as o3d
import numpy as np
from open3d.web_visualizer import draw

pcd = o3d.io.read_point_cloud("/home/pguhur/src/Open3D/examples/test_data/fragment.ply")
min_bound = np.array([10,10,10])[:, None]
max_bound = np.array([10,10,10])[:, None]
voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud_within_bounds(pcd, 0.01, min_bound, max_bound)

draw([voxel_grid])
```

### Error message

This is providing the full point cloud:

![image](https://user-images.githubusercontent.com/12297742/148685969-e71cfc72-69cc-40ce-972a-e021b4d79cd0.png)

### Expected behavior

I would be expected the point cloud to be cropped instead.

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 20.04
- Python version: Python 3.8
- Open3D version: 0.14.1+068d833
- System type: x84
- Is this remote workstation?: yes
- How did you install Open3D?: pip
```

### Additional information

_No response_

Contributor guide

No contributing guide indexed for this repository

Assessment

This issue has not been assessed yet.

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.