kaolin.conversions.pointcloudconversions

pointcloud_to_voxelgrid(pts: Union[torch.Tensor, kaolin.rep.PointCloud.PointCloud, numpy.ndarray], voxres: int, voxsize: float)[source]

Converts a pointcloud into a voxel grid.

Parameters

  • pts (-) – Pointcloud (shape: \(N \times 3\), where \(N\) is the number of points in the pointcloud).

  • voxres (-) – Resolution of the voxel grid.

  • voxsize (-) – size of each voxel grid cell.

Returns

Voxel grid.

Return type

(torch.Tensor)

pointcloud_to_trianglemesh(points: torch.Tensor)[source]
pointcloud_to_sdf(points: torch.Tensor, num_points=5000)[source]