在open3D中，我们可以通过以下方式创建点云

import open3d as o3d
import numpy as np
pcl = o3d.geometry.PointCloud()
pcl.points = o3d.utility.Vector3dVector(np.random.randn(500,3))
o3d.visualization.draw_geometries([pcl])

字符串
但是对于二进制numpy数组，例如voxel，如果我想可视化体素，我需要将其转换为点云，然后使用o3d.geometry.VoxelGrid.create_from_point_cloud将点云转换回open3D VoxelGrid

voxel = np.zeros((32, 32, 32), np.uint8)
voxel[16, 16, 16] = 1

# normalize
pcl = o3d.geometry.PointCloud()
pc = np.stack(np.where(voxel == 1)).transpose((1, 0)) / (voxel.shape[0] - 1)
pcl.points = o3d.utility.Vector3dVector(pc)
voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcl, voxel_size=0.04)
o3d.visualization.draw_geometries([voxel_grid])

型
是否有任何方法可以直接从体素创建o3d.geometry.VoxelGrid，如

### this doesn't work
voxel = np.zeros((32, 32, 32), np.uint8)
voxel[16, 16, 16] = 1

voxel_grid = o3d.geometry.VoxelGrid()
voxel_grid.voxels = o3d.utility.Vector3dVector(voxel)
o3d.visualization.draw_geometries([voxel_grid])

型