cloudViewer.geometry.VoxelGrid#

class cloudViewer.geometry.VoxelGrid#

VoxelGrid is a collection of voxels which are aligned in grid.

class Type#

Enum class for Geometry types.

BBOX = <Type.BBOX: 35184372088835>#

BOX = <Type.BOX: 524809>#

CAMERA_SENSOR = <Type.CAMERA_SENSOR: 4294975489>#

CONE = <Type.CONE: 262665>#

CUSTOM_H_OBJECT = <Type.CUSTOM_H_OBJECT: 129>#

CYLINDER = <Type.CYLINDER: 393737>#

DISH = <Type.DISH: 1049097>#

EXTRU = <Type.EXTRU: 2097673>#

FACET = <Type.FACET: 8388609>#

GBL_SENSOR = <Type.GBL_SENSOR: 134225921>#

IMAGE = <Type.IMAGE: 4097>#

IMAGE2 = <Type.IMAGE2: 562949953421315>#

LABEL_2D = <Type.LABEL_2D: 35>#

LINESET = <Type.LINESET: 2251799813685249>#

MATERIAL_SET = <Type.MATERIAL_SET: 16777222>#

MESH = <Type.MESH: 513>#

MESH_GROUP = <Type.MESH_GROUP: 517>#

OLD_CYLINDER_ID = <Type.OLD_CYLINDER_ID: 131593>#

ORIENTED_BBOX = <Type.ORIENTED_BBOX: 70368744177667>#

PLANE = <Type.PLANE: 16905>#

POINT_CLOUD = <Type.POINT_CLOUD: 257>#

POINT_KDTREE = <Type.POINT_KDTREE: 4194307>#

POINT_OCTREE = <Type.POINT_OCTREE: 1027>#

POINT_OCTREE2 = <Type.POINT_OCTREE2: 140737488355331>#

POLY_LINE = <Type.POLY_LINE: 2049>#

PRIMITIVE = <Type.PRIMITIVE: 521>#

QUADRIC = <Type.QUADRIC: 8589935113>#

RGBD_IMAGE = <Type.RGBD_IMAGE: 1125899906842627>#

SENSOR = <Type.SENSOR: 8193>#

SPHERE = <Type.SPHERE: 33289>#

SUB_MESH = <Type.SUB_MESH: 515>#

TETRA_MESH = <Type.TETRA_MESH: 27021597764222977>#

TORUS = <Type.TORUS: 66057>#

VIEWPORT_2D_LABEL = <Type.VIEWPORT_2D_LABEL: 99>#

VIEWPORT_2D_OBJECT = <Type.VIEWPORT_2D_OBJECT: 67>#

VOXEL_GRID = <Type.VOXEL_GRID: 281474976710657>#

property name#

property value#

class VoxelPoolingMode(value)#

Mode of determining color for each voxel.

AVG = 0#

MAX = 2#

MIN = 1#

SUM = 3#

static New(*args, **kwargs)#

Overloaded function.

New(objectType: typing.SupportsInt, name: str = None) -> cloudViewer.geometry.ccHObject
New(pluginId: QString, classId: QString, name: str = None) -> cloudViewer.geometry.ccHObject

__init__(*args, **kwargs)#

Overloaded function.

__init__(self: cloudViewer.geometry.VoxelGrid) -> None

Default constructor

__init__(self: cloudViewer.geometry.VoxelGrid, arg0: cloudViewer.geometry.VoxelGrid) -> None

Copy constructor

add_child(self, child, dependencyFlags=24, insertIndex=-1)#

Adds a child.

Parameters:

child (cloudViewer.geometry.ccHObject) – child instance geometry
dependencyFlags (SupportsInt, optional, default=24) – dependency flags
insertIndex (SupportsInt, optional, default=-1) – insertion index (if <0, child is simply appended to the children list)

Returns:

bool

add_voxel(self, voxel)#

Add a new voxel into the VoxelGrid.

Parameters:: voxel (cloudViewer.geometry.Voxel) –
Returns:: None

carve_depth_map(self, depth_map, camera_params, keep_voxels_outside_image=False)#

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to depth value that is smaller, or equal than the projected depth of the boundary point. If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters:

depth_map (cloudViewer::geometry::Image) – Depth map (Image) used for VoxelGrid carving.
camera_params (cloudViewer.camera.PinholeCameraParameters) –
keep_voxels_outside_image (bool, optional, default=False) – retain voxels that don’t project to pixels in the image

Returns:

cloudViewer.geometry.VoxelGrid

carve_silhouette(self, silhouette_mask, camera_params, keep_voxels_outside_image=False)#

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to a valid mask pixel (pixel value > 0). If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters:

silhouette_mask (cloudViewer::geometry::Image) – Silhouette mask (Image) used for VoxelGrid carving.
camera_params (cloudViewer.camera.PinholeCameraParameters) –
keep_voxels_outside_image (bool, optional, default=False) – retain voxels that don’t project to pixels in the image

Returns:

cloudViewer.geometry.VoxelGrid

check_if_included(self, queries)#

Element-wise check if a query in the list is included in the VoxelGrid. Queries are double precision and are mapped to the closest voxel.

Parameters:: queries (cloudViewer.utility.Vector3dVector) –
Returns:: list[bool]

colors_shown(self)#

Returns whether colors are shown or not.

Returns:: bool

static create_dense(origin, color, voxel_size, width, height, depth)#

Creates a voxel grid where every voxel is set (hence dense). This is a useful starting point for voxel carving

Parameters:

origin (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Coordinate center of the VoxelGrid
color (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Voxel color for all voxels if the VoxelGrid.
voxel_size (SupportsFloat) – Voxel size of of the VoxelGrid construction.
width (SupportsFloat) – Spatial width extend of the VoxelGrid.
height (SupportsFloat) – Spatial height extend of the VoxelGrid.
depth (SupportsFloat) – Spatial depth extend of the VoxelGrid.

Returns:

cloudViewer.geometry.VoxelGrid

create_from_octree(self, octree)#

Convert from Octree.

Parameters:: octree (cloudViewer::geometry::Octree) – geometry.Octree: The source octree.
Returns:: None

static create_from_point_cloud(input, voxel_size, pooling_mode=VoxelPoolingMode.AVG)#

Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is determined by the VoxelPoolingMode, e.g. by default the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are computed from the PointCloud.

Parameters:

input (cloudViewer.geometry.ccPointCloud) – The input PointCloud
voxel_size (SupportsFloat) – Voxel size of the VoxelGrid construction.
pooling_mode (cloudViewer.geometry.VoxelGrid.VoxelPoolingMode, optional, default=VoxelPoolingMode.AVG) – VoxelPoolingMode for determining voxel color.

Returns:

cloudViewer.geometry.VoxelGrid

static create_from_point_cloud_within_bounds(input, voxel_size, min_bound, max_bound, pooling_mode=VoxelPoolingMode.AVG)#

Parameters:

input (cloudViewer.geometry.ccPointCloud) – The input PointCloud
voxel_size (SupportsFloat) – Voxel size of the VoxelGrid construction.
min_bound (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Minimum boundary point for the VoxelGrid to create.
max_bound (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Maximum boundary point for the VoxelGrid to create.
pooling_mode (cloudViewer.geometry.VoxelGrid.VoxelPoolingMode, optional, default=VoxelPoolingMode.AVG) – VoxelPoolingMode that determines how to compute the voxel color.

Returns:

cloudViewer.geometry.VoxelGrid

static create_from_triangle_mesh(input, voxel_size)#

Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are computed from the TriangleMesh.

Parameters:

input (ccMesh) – The input TriangleMesh
voxel_size (SupportsFloat) – Voxel size of of the VoxelGrid construction.

Returns:

cloudViewer.geometry.VoxelGrid

static create_from_triangle_mesh_within_bounds(input, voxel_size, min_bound, max_bound)#

Creates a VoxelGrid from a given TriangleMesh. No color information is converted. The bounds of the created VoxelGrid are defined by the given parameters

Parameters:

input (ccMesh) – The input TriangleMesh
voxel_size (SupportsFloat) – Voxel size of of the VoxelGrid construction.
min_bound (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Minimum boundary point for the VoxelGrid to create.
max_bound (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Maximum boundary point for the VoxelGrid to create.

Returns:

cloudViewer.geometry.VoxelGrid

enable_gl_transformation(self, state)#

Enables/disables associated GL transformation.

Parameters:: state (bool) –
Returns:: None

enable_temp_color(self, state)#

Set temporary color activation state.

Parameters:: state (bool) –
Returns:: None

filter_children(self, recursive=False, filter=<Type.???: 0>, strict=False)#

Collects the children corresponding to a certain pattern.

Parameters:

recursive (bool, optional, default=False) – specifies if the search should be recursive
(typing.SupportsInt (filter) – 0>): pattern for children selection
optional – 0>): pattern for children selection
default=<Type.??? – 0>): pattern for children selection
strict (bool, optional, default=False) – whether the search is strict on the type (i.e ‘isA’) or not (i.e. ‘isKindOf’)

Returns:

list[cloudViewer.geometry.ccHObject]

find(self, unique_id)#

Finds an entity in this object hierarchy.

Parameters:: unique_id (SupportsInt) –
Returns:: cloudViewer.geometry.ccHObject

from_file(self, filename, dataVersion, flags)#

Loads data from binary stream.

Parameters:

filename (str) –
dataVersion (SupportsInt) – file version
flags (SupportsInt) – deserialization flags (see ccSerializableObject::DeserializationFlags)

Returns:

bool

get_axis_aligned_bounding_box(self)#

Returns an axis-aligned bounding box of the geometry.

Returns:: ccBBox

get_center(self)#

Returns the center of the geometry coordinates.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_child(self, childPos)#

Returns the ith child.

Parameters:: childPos (SupportsInt) – child position
Returns:: cloudViewer.geometry.ccHObject

get_children_number(self)#

Returns the number of children.

Returns:: int

get_class_id(self)#

Returns class ID.

Returns:: int

get_glTransformation_history(self)#

Returns the transformation ‘history’ matrix.

Returns:: ccGLMatrix

get_gl_transformation(self)#

Returns associated GL transformation.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float32], “[4, 4]”]

get_max_2Dbound(self)#

Returns max 2d bounds for geometry coordinates.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

get_max_bound(self)#

Returns max bounds for geometry coordinates.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_min_2Dbound(self)#

Returns min 2d bounds for geometry coordinates.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

get_min_bound(self)#

Returns min bounds for geometry coordinates.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_name(self)#

Returns object name.

Returns:: str

get_opacity(self)#

Get opacity.

Returns:: float

get_oriented_bounding_box(self)#

Returns an oriented bounding box of the geometry.

Returns:: ecvOrientedBBox

get_own_bounding_box(self, withGLFeatures=False)#

Returns an axis-aligned bounding box of the geometry.

Parameters:: withGLFeatures (bool, optional, default=False) – whether use openGL features.
Returns:: ccBBox

get_parent(self)#

Returns parent object.

Returns:: cloudViewer.geometry.ccHObject

static get_rotation_matrix_from_axis_angle(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_euler_angle(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_quaternion(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[4, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_xyz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_xzy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_yxz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_yzx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_zxy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

static get_rotation_matrix_from_zyx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']#

get_temp_color(self)#

Returns current temporary (unique) color.

Returns:: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_unique_id(self)#

Returns object unique ID.

Returns:: int

get_voxel(self, point)#

Returns voxel index given query point.

Parameters:: point (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The query point.
Returns:: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[3, 1]”]

get_voxels(self: cloudViewer.geometry.VoxelGrid) → list[cloudViewer.geometry.Voxel]#: Returns List of Voxel: Voxels contained in voxel grid. Changes to the voxels returned from this methodare not reflected in the voxel grid.

has_colors(self)#

Returns True if the voxel grid contains voxel colors.

Returns:: bool

has_displayed_scalar_field(self)#

Returns whether an active scalar field is available or not.

Returns:: bool

has_normals(self)#

Returns whether normals are enabled or not.

Returns:: bool

has_scalar_fields(self)#

Returns whether one or more scalar fields are instantiated.

Returns:: bool

has_voxels(self)#

Returns True if the voxel grid contains voxels.

Returns:: bool

is_a(self, type)#

Returns whether the geometry is a type pointed.

Parameters:: type (SupportsInt) –
Returns:: bool

is_color_overriden(self)#

Returns whether colors are currently overridden by a temporary (unique) color.

Returns:: bool

is_custom(self)#

Returns whether the geometry is custom.

Returns:: bool

is_empty(self)#

Returns True if the geometry is empty.

Returns:: bool

is_gl_trans_enabled(self)#

Returns whether a GL transformation is enabled or not.

Returns:: bool

is_group(self)#

Returns whether the instance is a group.

Returns:: bool

is_hierarchy(self)#

Returns whether the geometry is hierarchy.

Returns:: bool

is_kind_of(self, type)#

Returns whether the geometry is kind of the type pointed.

Parameters:: type (SupportsInt) –
Returns:: bool

is_leaf(self)#

Returns whether the geometry is leaf.

Returns:: bool

is_selected(self)#

Returns whether entity is selected or not.

Returns:: bool

is_serializable(self)#

Returns whether the instance is a serializable.

Returns:: bool

is_visible(self)#

Returns whether entity is visible or not.

Returns:: bool

is_visiblity_locked(self)#

Returns whether visibility is locked or not.

Returns:: bool

lock_visibility(self, state)#

Locks/unlocks visibility.

Parameters:: state (bool) –
Returns:: None

minimum_file_version(self: cloudViewer.geometry.ccHObject) → int#: Returns the minimum file version required to save this object

name_3d_shown(self)#

Returns whether name is displayed in 3D or not.

Returns:: bool

normals_shown(self)#

Returns whether normals are shown or not.

Returns:: bool

remove_all_children(self)#

Clear all children in the geometry.

Returns:: None

remove_child(*args, **kwargs)#

Overloaded function.

remove_child(self: cloudViewer.geometry.ccHObject, child: cloudViewer.geometry.ccHObject) -> None

Removes a specific child.

remove_child(self: cloudViewer.geometry.ccHObject, pos: typing.SupportsInt) -> None

Removes a specific child given its index.

remove_voxel(self, idx)#

Remove a voxel given index.

Parameters:: idx (Annotated[numpy.typing.ArrayLike, numpy.int32,) – The grid index of the target voxel.
Returns:: None

reset_glTransformation_history(self)#

Resets the transformation ‘history’ matrix.

Returns:: None

reset_gl_transformation(self)#

Resets associated GL transformation.

Returns:: None

rotate(*args, **kwargs)#

Overloaded function.

rotate(self, R)
Apply rotation to the geometry coordinates and normals.

Parameters:: R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix
Returns:: cloudViewer.geometry.ccHObject

rotate(self, R, center)
Apply rotation to the geometry coordinates and normals.

Parameters:

R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix
center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Rotation center used for transformation

Returns:

cloudViewer.geometry.ccHObject

rotate_gl(self, rotation)#

Multiplies (left) current GL transformation by a rotation matrix.

Parameters:: rotation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –
Returns:: None

scale(*args, **kwargs)#

Overloaded function.

scale(self, scale)
Apply scaling to the geometry coordinates.

Parameters:: scale (SupportsFloat) –
Returns:: cloudViewer.geometry.ccHObject

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters:

scale (SupportsFloat) –
center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Scale center used for transformation

Returns:

cloudViewer.geometry.ccHObject

set_glTransformation_history(self, mat)#

Sets the transformation ‘history’ matrix (handle with care!).

Parameters:: mat (ccGLMatrix) – transformation ‘history’ matrix
Returns:: None

set_gl_transformation(self, transformation)#

Associates entity with a GL transformation (rotation + translation).

Parameters:: transformation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –
Returns:: None

set_lineWidth_recursive(self, width)#

Sets the line width.

Parameters:: width (SupportsFloat) – line width
Returns:: None

set_name(self, arg0)#

Sets object name.

Parameters:: arg0 (str) –
Returns:: None

set_opacity(self, opacity)#

Set opacity activation state.

Parameters:: opacity (SupportsFloat) –
Returns:: None

set_pointSize_recursive(self, pSize)#

Sets the point size.

Parameters:: pSize (SupportsInt) – point size
Returns:: None

set_selected(self, state)#

Selects/Unselects entity.

Parameters:: state (bool) –
Returns:: None

set_temp_color(self, color, auto_activate=True)#

Sets current temporary (unique).

Parameters:

color (Annotated[numpy.typing.ArrayLike, numpy.float64,) – rgb color
auto_activate (bool, optional, default=True) – auto activates temporary color

Returns:

None

set_unique_id(self, ID)#

Changes unique ID.

Parameters:: ID (SupportsInt) –
Returns:: None

set_visible(self, state)#

Sets entity visibility.

Parameters:: state (bool) –
Returns:: None

sf_shown(self)#

Returns whether active scalar field is visible.

Returns:: bool

show_3d_name(self, state)#

Sets whether name should be displayed in 3D.

Parameters:: state (bool) –
Returns:: None

show_colors(self, state)#

Sets colors visibility.

Parameters:: state (bool) –
Returns:: None

show_normals(self, state)#

Sets normals visibility.

Parameters:: state (bool) –
Returns:: None

show_sf(self, state)#

Sets active scalar field visibility.

Parameters:: state (bool) –
Returns:: None

to_file(self, filename, data_version)#

Saves data to binary stream.

Parameters:

filename (str) –
data_version (SupportsInt) –

Returns:

bool

to_octree(self, max_depth)#

Convert to Octree.

Parameters:: max_depth (SupportsInt) – int: Maximum depth of the octree.
Returns:: cloudViewer::geometry::Octree

toggle_colors(self)#

Toggles colors display state.

Returns:: None

toggle_materials(self)#

Toggles material display state.

Returns:: None

toggle_normals(self)#

Toggles normals display state.

Returns:: None

toggle_sf(self)#

Toggles SF display state.

Returns:: None

toggle_show_name(self)#

Toggles name in 3D display state.

Returns:: None

toggle_visibility(self)#

Toggles visibility.

Returns:: None

transform(self, arg0)#

Apply transformation (4x4 matrix) to the geometry coordinates.

Parameters:: arg0 (Annotated[numpy.typing.ArrayLike, numpy.float64,) –
Returns:: cloudViewer.geometry.ccHObject

translate(self, translation, relative=True)#

Apply translation to the geometry coordinates.

Parameters:

translation (Annotated[numpy.typing.ArrayLike, numpy.float64,) – A 3D vector to transform the geometry
relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns:

cloudViewer.geometry.ccHObject

translate_gl(self, translation)#

Translates current GL transformation by a rotation matrix.

Parameters:: translation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –
Returns:: None

BBOX = <Type.BBOX: 35184372088835>#

BOX = <Type.BOX: 524809>#

CAMERA_SENSOR = <Type.CAMERA_SENSOR: 4294975489>#

CONE = <Type.CONE: 262665>#

CUSTOM_H_OBJECT = <Type.CUSTOM_H_OBJECT: 129>#

CYLINDER = <Type.CYLINDER: 393737>#

DISH = <Type.DISH: 1049097>#

EXTRU = <Type.EXTRU: 2097673>#

FACET = <Type.FACET: 8388609>#

GBL_SENSOR = <Type.GBL_SENSOR: 134225921>#

IMAGE = <Type.IMAGE: 4097>#

IMAGE2 = <Type.IMAGE2: 562949953421315>#

LABEL_2D = <Type.LABEL_2D: 35>#

LINESET = <Type.LINESET: 2251799813685249>#

MATERIAL_SET = <Type.MATERIAL_SET: 16777222>#

MESH = <Type.MESH: 513>#

MESH_GROUP = <Type.MESH_GROUP: 517>#

OLD_CYLINDER_ID = <Type.OLD_CYLINDER_ID: 131593>#

ORIENTED_BBOX = <Type.ORIENTED_BBOX: 70368744177667>#

PLANE = <Type.PLANE: 16905>#

POINT_CLOUD = <Type.POINT_CLOUD: 257>#

POINT_KDTREE = <Type.POINT_KDTREE: 4194307>#

POINT_OCTREE = <Type.POINT_OCTREE: 1027>#

POINT_OCTREE2 = <Type.POINT_OCTREE2: 140737488355331>#

POLY_LINE = <Type.POLY_LINE: 2049>#

PRIMITIVE = <Type.PRIMITIVE: 521>#

QUADRIC = <Type.QUADRIC: 8589935113>#

RGBD_IMAGE = <Type.RGBD_IMAGE: 1125899906842627>#

SENSOR = <Type.SENSOR: 8193>#

SPHERE = <Type.SPHERE: 33289>#

SUB_MESH = <Type.SUB_MESH: 515>#

TETRA_MESH = <Type.TETRA_MESH: 27021597764222977>#

TORUS = <Type.TORUS: 66057>#

VIEWPORT_2D_LABEL = <Type.VIEWPORT_2D_LABEL: 99>#

VIEWPORT_2D_OBJECT = <Type.VIEWPORT_2D_OBJECT: 67>#

VOXEL_GRID = <Type.VOXEL_GRID: 281474976710657>#

property origin#

Coorindate of the origin point.

Type:: float64 vector of length 3

property rotation#

Rotation matrix of the origin point.

Type:: float64 3x3 matrix

property voxel_size#: float64 Size of the voxel.