rename VoxelColorMode to VoxelPoolingMode

cpp/open3d/geometry/VoxelGrid.h

@@ -189,13 +189,13 @@ class VoxelGrid : public Geometry3D {
                                                   double height,
                                                   double depth);
 
-    /// \enum VoxelColorMode
+    /// \enum VoxelPoolingMode
     ///
     /// \brief Possible ways of determining voxel color from PointCloud.
-    enum class VoxelColorMode { AVG, MIN, MAX, SUM };
+    enum class VoxelPoolingMode { AVG, MIN, MAX, SUM };
 
     /// Creates a VoxelGrid from a given PointCloud. The color value of a given
-    /// voxel is determined by the VoxelColorMode, e.g. by default the average
+    /// voxel is determined by the VoxelPoolingMode, e.g. by default the average
     /// color value of the points that fall into it (if the
     /// PointCloud has colors).
     /// The bounds of the created VoxelGrid are computed from the PointCloud.
@@ -206,10 +206,10 @@ class VoxelGrid : public Geometry3D {
     static std::shared_ptr<VoxelGrid> CreateFromPointCloud(
             const PointCloud &input,
             double voxel_size,
-            VoxelColorMode color_mode = VoxelColorMode::AVG);
+            VoxelPoolingMode color_mode = VoxelPoolingMode::AVG);
 
     /// Creates a VoxelGrid from a given PointCloud. The color value of a given
-    /// voxel is determined by the VoxelColorMode, e.g. by default the average
+    /// voxel is determined by the VoxelPoolingMode, e.g. by default the average
     /// color value of the points that fall into it (if the
     /// PointCloud has colors).
     /// The bounds of the created VoxelGrid are defined by the given parameters.
@@ -224,7 +224,7 @@ class VoxelGrid : public Geometry3D {
             double voxel_size,
             const Eigen::Vector3d &min_bound,
             const Eigen::Vector3d &max_bound,
-            VoxelColorMode color_mode = VoxelColorMode::AVG);
+            VoxelPoolingMode color_mode = VoxelPoolingMode::AVG);
 
     /// Creates a VoxelGrid from a given TriangleMesh. No color information is
     /// converted. The bounds of the created VoxelGrid are computed from the

cpp/open3d/geometry/VoxelGridFactory.cpp

@@ -46,7 +46,7 @@ std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromPointCloudWithinBounds(
         double voxel_size,
         const Eigen::Vector3d &min_bound,
         const Eigen::Vector3d &max_bound,
-        VoxelGrid::VoxelColorMode color_mode) {
+        VoxelGrid::VoxelPoolingMode pooling_mode) {
     auto output = std::make_shared<VoxelGrid>();
     if (voxel_size <= 0.0) {
         utility::LogError("voxel_size <= 0.");
@@ -79,10 +79,10 @@ std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromPointCloudWithinBounds(
         const Eigen::Vector3i &grid_index = accpoint.second.GetVoxelIndex();
         // clang-format off
         const Eigen::Vector3d &color = has_colors ?
-            (color_mode == VoxelColorMode::AVG ? accpoint.second.GetAverageColor()
-            : color_mode == VoxelColorMode::MIN ? accpoint.second.GetMinColor()
-            : color_mode == VoxelColorMode::MAX ? accpoint.second.GetMaxColor()
-            : color_mode == VoxelColorMode::SUM ? accpoint.second.GetSumColor()
+            (pooling_mode == VoxelPoolingMode::AVG ? accpoint.second.GetAverageColor()
+            : pooling_mode == VoxelPoolingMode::MIN ? accpoint.second.GetMinColor()
+            : pooling_mode == VoxelPoolingMode::MAX ? accpoint.second.GetMaxColor()
+            : pooling_mode == VoxelPoolingMode::SUM ? accpoint.second.GetSumColor()
             : Eigen::Vector3d::Zero())
             : Eigen::Vector3d::Zero();
         // clang-format on
@@ -97,12 +97,12 @@ std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromPointCloudWithinBounds(
 std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromPointCloud(
         const PointCloud &input,
         double voxel_size,
-        VoxelGrid::VoxelColorMode color_mode) {
+        VoxelGrid::VoxelPoolingMode pooling_mode) {
     Eigen::Vector3d voxel_size3(voxel_size, voxel_size, voxel_size);
     Eigen::Vector3d min_bound = input.GetMinBound() - voxel_size3 * 0.5;
     Eigen::Vector3d max_bound = input.GetMaxBound() + voxel_size3 * 0.5;
     return CreateFromPointCloudWithinBounds(input, voxel_size, min_bound,
-                                            max_bound, color_mode);
+                                            max_bound, pooling_mode);
 }
 
 std::shared_ptr<VoxelGrid> VoxelGrid::CreateFromTriangleMeshWithinBounds(

cpp/pybind/geometry/voxelgrid.cpp

@@ -64,13 +64,13 @@ void pybind_voxelgrid_definitions(py::module &m) {
                                    std::shared_ptr<VoxelGrid>, Geometry3D>>(
                     m.attr("VoxelGrid"));
 
-    py::enum_<VoxelGrid::VoxelColorMode> color_mode(
-            voxelgrid, "VoxelColorMode",
+    py::enum_<VoxelGrid::VoxelPoolingMode> pooling_mode(
+            voxelgrid, "VoxelPoolingMode",
             "Mode of determining color for each voxel.");
-    color_mode.value("AVG", VoxelGrid::VoxelColorMode::AVG)
-            .value("MIN", VoxelGrid::VoxelColorMode::MIN)
-            .value("MAX", VoxelGrid::VoxelColorMode::MAX)
-            .value("SUM", VoxelGrid::VoxelColorMode::SUM);
+    pooling_mode.value("AVG", VoxelGrid::VoxelPoolingMode::AVG)
+            .value("MIN", VoxelGrid::VoxelPoolingMode::MIN)
+            .value("MAX", VoxelGrid::VoxelPoolingMode::MAX)
+            .value("SUM", VoxelGrid::VoxelPoolingMode::SUM);
 
     py::detail::bind_default_constructor<VoxelGrid>(voxelgrid);
     py::detail::bind_copy_functions<VoxelGrid>(voxelgrid);
@@ -139,22 +139,22 @@ void pybind_voxelgrid_definitions(py::module &m) {
                         &VoxelGrid::CreateFromPointCloud,
                         "Creates a VoxelGrid from a given PointCloud. The "
                         "color value of a given  voxel is determined by the "
-                        "VoxelColorMode, e.g. by default the average color "
+                        "VoxelPoolingMode, e.g. by default the average color "
                         "value of the points that fall into it (if the "
                         "PointCloud has colors). The bounds of the created "
                         "VoxelGrid are computed from the PointCloud.",
                         "input"_a, "voxel_size"_a,
-                        "color_mode"_a = VoxelGrid::VoxelColorMode::AVG)
+                        "pooling_mode"_a = VoxelGrid::VoxelPoolingMode::AVG)
             .def_static("create_from_point_cloud_within_bounds",
                         &VoxelGrid::CreateFromPointCloudWithinBounds,
                         "Creates a VoxelGrid from a given PointCloud. The "
                         "color value of a given voxel is determined by the "
-                        "VoxelColorMode, e.g. by default the average color "
+                        "VoxelPoolingMode, e.g. by default the average color "
                         "value of the points that fall into it (if the "
                         "PointCloud has colors). The bounds of the created "
                         "VoxelGrid are defined by the given parameters.",
                         "input"_a, "voxel_size"_a, "min_bound"_a, "max_bound"_a,
-                        "color_mode"_a = VoxelGrid::VoxelColorMode::AVG)
+                        "pooling_mode"_a = VoxelGrid::VoxelPoolingMode::AVG)
             .def_static("create_from_triangle_mesh",
                         &VoxelGrid::CreateFromTriangleMesh,
                         "Creates a VoxelGrid from a given TriangleMesh. No "
@@ -229,7 +229,7 @@ void pybind_voxelgrid_definitions(py::module &m) {
             m, "VoxelGrid", "create_from_point_cloud",
             {{"input", "The input PointCloud"},
              {"voxel_size", "Voxel size of of the VoxelGrid construction."},
-             {"color_mode", "VoxelColorMode for determining voxel color."}});
+             {"pooling_mode", "VoxelPoolingMode for determining voxel color."}});
     docstring::ClassMethodDocInject(
             m, "VoxelGrid", "create_from_point_cloud_within_bounds",
             {{"input", "The input PointCloud"},
@@ -238,7 +238,7 @@ void pybind_voxelgrid_definitions(py::module &m) {
               "Minimum boundary point for the VoxelGrid to create."},
              {"max_bound",
               "Maximum boundary point for the VoxelGrid to create."},
-             {"color_mode", "VoxelColorMode for determining voxel color."}});
+             {"pooling_mode", "VoxelPoolingMode that determines how to compute the voxel color."}});
     docstring::ClassMethodDocInject(
             m, "VoxelGrid", "create_from_triangle_mesh",
             {{"input", "The input TriangleMesh"},

docs/jupyter/geometry/voxelization.ipynb

@@ -64,7 +64,7 @@
    "metadata": {},
    "source": [
     "## From point cloud\n",
-    "The voxel grid can also be created from a point cloud using the method `create_from_point_cloud`. A voxel is occupied if at least one point of the point cloud is within the voxel. The argument `voxel_size` defines the resolution of the voxel grid. By default, the color of the voxel is the average of all the points within the voxel. The argument `color_mode` can be changed to determine the color by average, min, max or sum value of the points, e.g. with `o3d.geometry.VoxelGrid.VoxelColorMode.MIN`."
+    "The voxel grid can also be created from a point cloud using the method `create_from_point_cloud`. A voxel is occupied if at least one point of the point cloud is within the voxel. The argument `voxel_size` defines the resolution of the voxel grid. By default, the color of the voxel is the average of all the points within the voxel. The argument `pooling_mode` can be changed to determine the color by average, min, max or sum value of the points, e.g. with `o3d.geometry.VoxelGrid.VoxelPoolingMode.MIN`."
    ]
   },
   {