Fix incomplete VoxelGrid creation from triangles intersecting multiple voxels

[sharon-br]

Set all the relevant voxels, since a triangle can span across multiple ones
Currently, we break after the first voxel in the depth axis for some reason, but a single triangle can be relevant to multiple voxels.

Is there any option to release a version including this PR, since I really want to integrate this into a solution I'm building.

Type

• Bug fix (non-breaking change which fixes an issue): Fixes Strange VoxelGrid result from a TriangleMesh #6324
• New feature (non-breaking change which adds functionality). Resolves #
• Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

The current voxel grid generated is wrong and contains only the first voxel in the depth axis.

Checklist:

• I have run python util/check_style.py --apply to apply Open3D code style
  to my code.
• This PR changes Open3D behavior or adds new functionality.
  • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
    updated accordingly.
  • I have added or updated C++ and / or Python unit tests OR included test
    results (e.g. screenshots or numbers) here.
• I will follow up and update the code if CI fails.
• For fork PRs, I have selected Allow edits from maintainers.

Description

Mesh itself I've tested:

VoxelGrid before the fix:

VoxelGrid after the fix:

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This change is 

[update-docs]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

[ssheorey]

Is there any option to release a version including this PR, since I really want to integrate this into a solution I'm building.

Hi @sharon-br thanks for the bug fix. We'll get back with reviews shortly. Once the PR is merged, you can use the devel packages from here:

http://www.open3d.org/docs/latest/getting_started.html

(both C++ binaries and Python wheels are available) till the next release is ready.

[sharon-br]

@theNded @reyanshsolis Any chance one of you guys can review this, please?

[reyanshsolis]

@theNded @reyanshsolis Any chance one of you guys can review this, please?

Thanks for your contribution. Will do it by tonight.

[theNded]

LGTM. Please change the PR title to a concise, imperative one, e.g. "Fix incomplete VoxelGrid creation from triangles intersecting multiple voxels."

[sharon-br]

Done - is there anything else we need in order to merge this?

[reyanshsolis]

LGTM

[sharon-br]

@reyanshsolis Your comment commit broke the style check and therefore the test failed, I pushed another commit that fixes that.

[ssheorey]

Thanks @sharon-br for the bugfix. Thanks @theNded and @reyanshsolis for reviews!