This module contains implementation of voxel related autograd oprations.

class d3d.voxel.VoxelGenerator(bounds, shape, min_points=0, max_points=30, max_voxels=20000, max_points_filter=None, max_voxels_filter=None, reduction=None, dense=False)[source]

Bases: object

Convert point cloud to voxels

  • shape – The shape of the voxel grid

  • bouds – The boundary of the voxel grid, in format [xmin, xmax, ymin, ymax, zmin, zmax]

  • min_points – Minimum number of points per voxel

  • max_points – Maximum number of points per voxel

  • max_voxels – Maximum total number of voxels

  • reduction – Type of reduction to apply, {none, mean, max, min}. Only for dense representation

  • dense – Whether the output is in dense representation.

  • max_voxels_filter – Filter to be applied to filter voxels

  • max_points_filter – Filter to be applied to filter points in a voxel