Open3d: voxelgrid

[nrj127]

Is there a way to get the points inside a voxel. I would like to convert my point cloud into a voxel grid and do some statistical analysis on points inside every voxel.

[syncle]

Hi. Could you elaborate bit more? To answer the following question:

Is there a way to get the points inside a voxel.

You can use voxel downsampling
http://www.open3d.org/docs/tutorial/Basic/pointcloud.html#voxel-downsampling

[nrj127]

I have a point cloud and I am trying to segment out the vertical planes in my point cloud. For this I though to create small voxels , estimate the normals based on the points inside a particular voxel and use RANSAC to fit a model for vertical plane. However, the downsampled point cloud gives me only the average of the points inside the voxel. I was wondering if there is a way extract all the points inside a particular voxel, which could be represented by some id.

[qianyizh]

Umm, the python interface does not have a function for it. You need to write a C++ function to do it.
The other option is to use EstimateNormals to compute the normals directly then write a RANSAC for plane extraction.

[nrj127]

Okay, Thanks