Strange VoxelGrid result from a TriangleMesh #6324
Description
Checklist
- I have searched for similar issues.
- For Python issues, I have tested with the latest development wheel.
- I have checked the release documentation and the latest documentation (for
masterbranch).
Describe the issue
When creating a VoxelGrid from a simple TriangleMesh representing a cube, I get a strange result, which is very different from what I would expect and much different from the VoxelGrid created from the sampled PointCloud of that mesh.
The mesh itself is a simple cube constructed from 8 unique vertices.
It seems like the issue described in #6111.
Steps to reproduce the bug
import open3d
import numpy as np
mesh = open3d.geometry.TriangleMesh()
mesh.vertices = open3d.utility.Vector3dVector(np.array([[ 45.69434738, 268.5824585 , 22.96587944],
[ 45.69434738, 268.5824585 , 25.59055138],
[ 45.69434738, 270.55096436, 22.96587944],
[ 45.69434738, 270.55096436, 25.59055138],
[ 47.66285324, 268.5824585 , 22.96587944],
[ 47.66285324, 268.5824585 , 25.59055138],
[ 47.66285324, 270.55096436, 22.96587944],
[ 47.66285324, 270.55096436, 25.59055138]]).reshape((-1, 3)))
mesh.triangles = open3d.utility.Vector3iVector(np.array([1, 5, 3, 3, 5, 7, 0, 2, 4, 4, 2, 6, 6, 2, 7, 7, 2, 3, 2, 0, 3, 3, 0, 1, 0, 4, 1, 1, 4, 5, 4, 6, 5, 5, 6, 7]).reshape((-1, 3)))
voxel_grid = open3d.geometry.VoxelGrid.create_from_triangle_mesh(mesh, voxel_size=0.05)
voxel_grid_from_point_cloud = open3d.geometry.VoxelGrid.create_from_point_cloud(mesh.sample_points_uniformly(100_000), 0.05)Error message
Mesh itself:
Result of VoxelGrid:
Result of VoxelFridFromPointCloud:
Expected behavior
I would expect the VoxelGrid from the TriangleMesh to look very much like the mesh itself, the same as the one constructed from the PointCloud looks like.
Open3D, Python and System information
- Operating system: Windows 10 64-bit
- Python version: Python 3.9
- Open3D version: 0.17.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip
- Compiler version (if built from source): -Additional information
No response