A line of voxels, from start voxel to an end voxel. More...

#include <VisionX/libraries/VoxelGridCore/VoxelLine.h>

Public Member Functions
bool	finished () const
	Indicate whether there are more voxels on the line. More...

Eigen::Vector3i	next ()
	Get the next voxel. More...

	VoxelLine ()
	Construct an empty voxel line. More...

	VoxelLine (const Eigen::Vector3i &start, const Eigen::Vector3i &end, bool includeStart=true, bool includeEnd=true)
	Construct a voxel line from start to end. More...

Static Public Member Functions
static std::vector< Eigen::Vector3i >	getLineVoxels (const Eigen::Vector3i &start, const Eigen::Vector3i &end, bool includeStart=true, bool includeEnd=true)
	Get the voxels indices of the line from start to end. More...

Detailed Description

A line of voxels, from start voxel to an end voxel.

Voxels are represented by their 3D integer index.

Usage:

(1) (a) Construct a VoxelLine line. (b) while !line.finished(), call line.next().

(2) Call VoxelLine::getLineVoxels() to get all voxels at once.

Uses Bresenham's algorithm for line drawing in 3D (i.e. drawing voxels).

Implementation based on: https://www.geeksforgeeks.org/bresenhams-algorithm-for-3-d-line-drawing/

Definition at line 27 of file VoxelLine.h.

Constructor & Destructor Documentation

◆ VoxelLine() [1/2]

VoxelLine ( )

Construct an empty voxel line.

Definition at line 12 of file VoxelLine.cpp.

◆ VoxelLine() [2/2]

VoxelLine	(	const Eigen::Vector3i &	start,
		const Eigen::Vector3i &	end,
		bool	includeStart = `true`,
		bool	includeEnd = `true`
	)

Construct a voxel line from start to end.

Parameters

start	the start voxel
end	the end voxel
includeStart	if true, the start voxel is included in the result list
includeEnd	if true, the end voxel is included in the result list

If start and end are equal and any of includeStart or includeEnd is true, the point is included.

Definition at line 15 of file VoxelLine.cpp.

Member Function Documentation

◆ finished()

bool finished ( ) const

Indicate whether there are more voxels on the line.

Definition at line 89 of file VoxelLine.cpp.

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◆ getLineVoxels()

std::vector< Eigen::Vector3i > getLineVoxels	(	const Eigen::Vector3i &	start,
		const Eigen::Vector3i &	end,
		bool	includeStart = `true`,
		bool	includeEnd = `true`
	)

static

Get the voxels indices of the line from start to end.

See also: VoxelLine::VoxelLine() (constructor)

Definition at line 108 of file VoxelLine.cpp.

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◆ next()

Eigen::Vector3i next ( )

Get the next voxel.

Exceptions

<tt>std::logic_error</tt> if there are no more voxels (this->finished())

Definition at line 94 of file VoxelLine.cpp.