Voxel grid storing the number of points per label in each voxel. More...

#include <VisionX/libraries/VoxelGrids/LabelOccupancy/VoxelGrid.h>

Inheritance diagram for VoxelGrid:

Public Member Functions
std::set< Label >	getUniqueLabels () const
	Get the set of unique labels in the grid. More...

void	readJson (const std::filesystem::path &file)

void	readJson (std::istream &is)
	Read this voxel grid from JSON. More...

void	setByLabelDensity (const LabelDensity::VoxelGrid &density, bool adoptStructure=false)
	Set the voxels by selecting the label with most points for each voxel. More...

	VoxelGrid ()
	Construct a voxel grid with 0 voxels of size 1.0. More...

template<typename OtherVoxelT >
	VoxelGrid (const VoxelGrid< OtherVoxelT > &other)
	Construct a voxel grid with the same structure as other. More...

	VoxelGrid (const VoxelGrid< VoxelT > &other)=default
	Ordinary copy constructor for voxel grid with same VoxelT. More...

	VoxelGrid (const VoxelGridStructure &structure, const std::vector< VoxelGrid::VoxelT > &voxelData)
	Construct a voxel grid with the given structure and data. More...

	VoxelGrid (const VoxelGridStructure &structure, const VoxelT &value={})
	Construct a voxel grid with the given structure and voxels with given value. More...

void	writeJson (const std::filesystem::path &file) const

void	writeJson (std::ostream &os) const
	Write this voxel grid to JSON. More...

Public Member Functions inherited from VoxelGrid< VoxelT >
std::vector< VoxelT >::iterator	begin ()
	Get an iterator to the first voxel. More...

std::vector< VoxelT >::const_iterator	begin () const
	Get an iterator to the first voxel. More...

std::vector< VoxelT >::const_iterator	cbegin () const
	Get an iterator to the first voxel. More...

std::vector< VoxelT >::const_iterator	cend () const
	Get an iterator to the element following the last voxel. More...

void	checkIsInside (const Eigen::Vector3i &index) const
	Assert that the given index is a valid grid index. More...

std::vector< VoxelT >::iterator	end ()
	Get an iterator to the element following the last voxel. More...

std::vector< VoxelT >::const_iterator	end () const
	Get an iterator to the element following the last voxel. More...

Eigen::Vector3f	getCenter () const
	Get the geometric center of the grid the world frame (which differs from the origin for even grid sizes). More...

Eigen::Matrix4f	getCenterPose () const
	Get the grid pose positioned at the grid center in the world frame. More...

Eigen::Vector3f	getExtents () const
	Get extent of the grid along each axis (encompassing the whole voxels). More...

Eigen::Vector3f	getExtentsOfCenters () const
	Get extent of the grid along each axis (encompassing only voxel centers). More...

Eigen::Vector3i	getGridSizes () const
	Get the grid size. More...

Eigen::Matrix32f	getLocalBoundingBox () const
	Get the local axis aligned bounding box of the grid (minimal/maximal values in columns). More...

Eigen::Matrix32f	getLocalBoundingBoxOfCenters () const
	Get the local axis aligned bounding box of the voxel centers (minimal/maximal values in columns). More...

std::size_t	getNumVoxels () const
	Get the number of voxels in the grid. More...

Eigen::Quaternionf	getOrientation () const
	Get the grid orienation in the world frame. More...

Eigen::Vector3f	getOrigin () const
	Get the grid origin in the world frame (center of voxel [0 0 0]). More...

Eigen::Matrix4f	getPose () const
	Get the grid pose in the world frame. More...

VoxelGridStructure	getStructure () const
	Get the voxel grid structure. More...

VoxelT &	getVoxel (const Eigen::Vector3f &point, bool local=false)
	Get the voxel closest to the given point. More...

const VoxelT &	getVoxel (const Eigen::Vector3f &point, bool local=false) const

VoxelT &	getVoxel (const Eigen::Vector3i &index)
	Get the voxel with the given grid index. More...

const VoxelT &	getVoxel (const Eigen::Vector3i &index) const

VoxelT &	getVoxel (int x, int y, int z)
	Get the voxel with the given grid index. More...

const VoxelT &	getVoxel (int x, int y, int z) const

VoxelT &	getVoxel (std::size_t index)
	Get the voxel with the given index. More...

const VoxelT &	getVoxel (std::size_t index) const

Eigen::Vector3f	getVoxelCenter (const Eigen::Vector3i &index, bool local=false) const
	Get the center of the voxel with the given index. More...

Eigen::Vector3f	getVoxelCenter (int x, int y, int z, bool local=false) const
	Get the center of the voxel with the given index. More...

Eigen::Vector3f	getVoxelCenter (std::size_t index, bool local=false) const
	Get the center of the voxel with the given index. More...

std::size_t	getVoxelFlatIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the flat index of the voxel closest to `point`. More...

std::size_t	getVoxelFlatIndex (const Eigen::Vector3i &index) const
	Get the flat index of the voxel with given grid index. More...

std::size_t	getVoxelFlatIndex (int x, int y, int z) const
	Get the flat index of the voxel with given grid index. More...

Eigen::Vector3i	getVoxelGridIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the grid index of the voxel closest to point. More...

Eigen::Vector3i	getVoxelGridIndex (size_t index) const
	Get the grid index of the voxel with the given flat index. More...

Eigen::Vector3i	getVoxelGridIndexMax () const
	Get the maximal (along each axis) voxel grid index. More...

Eigen::Vector3i	getVoxelGridIndexMin () const
	Get the minimal (along each axis) voxel grid index. More...

const std::vector< VoxelT > &	getVoxels () const
	Get the voxels. More...

Eigen::Vector3f	getVoxelSizes () const
	Get the voxel size. More...

bool	isInside (const Eigen::Vector3f &point, bool local=false) const
	Indicate whether the given point is inside the voxel. More...

bool	isInside (const Eigen::Vector3i &index) const
	Indicate whether the given point is inside the voxel. More...

std::size_t	numVoxels () const
	Get the number of voxels in the grid. More...

VoxelT &	operator[] (const Eigen::Vector3i &index)
	Get the voxel with given grid index. More...

const VoxelT &	operator[] (const Eigen::Vector3i &index) const

VoxelT &	operator[] (std::size_t index)
	Get the voxel with given flat index. More...

const VoxelT &	operator[] (std::size_t index) const

void	reset (const VoxelT &value={})
	Reset the voxel data by `numVoxels()` voxels with given value. More...

void	resetStructure (const VoxelGridStructure &structure)
	Set the voxel grid structure and reset voxel data. More...

void	setCenter (const Eigen::Vector3f &value)
	Set the geometric center of the grid the world frame (which differs from the origin for even grid sizes). More...

void	setCenterPose (const Eigen::Matrix4f &value)
	Set the grid pose so that the grid center is the position of the given pose under the given orientation. More...

void	setGridSizes (const Eigen::Vector3i &gridSizes)
	Set the grid size. This resets the grid data. More...

void	setGridSizes (float gridSizes)
	Set the grid size for a cubic grid. Resets the grid data. More...

void	setOrientation (const Eigen::Quaternionf &value)
	Set the grid orienation in the world frame. More...

void	setOrigin (const Eigen::Vector3f &value)
	Set the grid origin the world frame (center of voxel [0 0 0]). More...

void	setPose (const Eigen::Matrix4f &value)
	Get the grid pose in the world frame. More...

void	setVoxels (const std::vector< VoxelT > &voxels)
	Set the voxels. More...

void	setVoxelSizes (const Eigen::Vector3f &voxelSizes)
	Set the voxel size. The grid data is not updated. More...

void	setVoxelSizes (float voxelSize)
	Set the voxel size of cubic voxels. The grid data is not updated. More...

	VoxelGrid ()
	Construct a voxel grid with 0 voxels of size 1.0. More...

	VoxelGrid (const VoxelGrid< OtherVoxelT > &other)
	Construct a voxel grid with the same structure as other. More...

	VoxelGrid (const VoxelGrid< VoxelT > &other)=default
	Ordinary copy constructor for voxel grid with same VoxelT. More...

	VoxelGrid (const VoxelGridStructure &structure, const std::vector< VoxelGrid::VoxelT > &voxelData)
	Construct a voxel grid with the given structure and data. More...

	VoxelGrid (const VoxelGridStructure &structure, const VoxelT &value={})
	Construct a voxel grid with the given structure and voxels with given value. More...

Static Public Member Functions
static VoxelGrid	fromLabelDensity (const LabelDensity::VoxelGrid &density)
	Make a label occupancy grid from the given density grid. More...

Static Public Attributes
static const std::string	JSON_VOXEL_ARRAY_NAME = "labels"
	Name of the single voxel array in JSON. More...

Additional Inherited Members
Public Types inherited from VoxelGrid< VoxelT >
using	VoxelT = VoxelT
	The voxel type. More...

Protected Attributes inherited from VoxelGrid< VoxelT >
VoxelGridStructure	_struct
	The geometric structure. More...

std::vector< VoxelT >	_voxels
	The voxel data. More...

Detailed Description

Voxel grid storing the number of points per label in each voxel.

Definition at line 69 of file VoxelGrid.h.

Constructor & Destructor Documentation

◆ VoxelGrid() [1/5]

VoxelGrid

Construct a voxel grid with 0 voxels of size 1.0.

Definition at line 456 of file VoxelGrid.hpp.

◆ VoxelGrid() [2/5]

VoxelGrid

Construct a voxel grid with the given structure and voxels with given value.

Definition at line 460 of file VoxelGrid.hpp.

◆ VoxelGrid() [3/5]

VoxelGrid

Construct a voxel grid with the given structure and data.

The size of voxelData must match the grid size of structure.

Exceptions

error::InvalidVoxelDataSize If the size does not match.

Definition at line 465 of file VoxelGrid.hpp.

◆ VoxelGrid() [4/5]

VoxelGrid ( typename OtherVoxelT )

Construct a voxel grid with the same structure as other.

Definition at line 478 of file VoxelGrid.hpp.

◆ VoxelGrid() [5/5]

VoxelGrid

default

Ordinary copy constructor for voxel grid with same VoxelT.

Member Function Documentation

◆ fromLabelDensity()

VoxelGrid fromLabelDensity ( const LabelDensity::VoxelGrid & density )

static

Make a label occupancy grid from the given density grid.

See also: setByLabelDensity()

Definition at line 80 of file VoxelGrid.cpp.

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◆ getUniqueLabels()

std::set< Label > getUniqueLabels ( ) const

Get the set of unique labels in the grid.

Definition at line 87 of file VoxelGrid.cpp.

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◆ readJson() [1/2]

void readJson ( const std::filesystem::path & file )

Definition at line 147 of file VoxelGrid.cpp.

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◆ readJson() [2/2]

void readJson ( std::istream & is )

Read this voxel grid from JSON.

Definition at line 142 of file VoxelGrid.cpp.

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◆ setByLabelDensity()

void setByLabelDensity	(	const LabelDensity::VoxelGrid &	density,
		bool	adoptStructure = `false`
	)

Set the voxels by selecting the label with most points for each voxel.

This overwrites any information previously stored in this grid.

Parameters

density	The label density grid.
adoptStructure	If false, throws an exception if `density`'s structure is not equal to the structure of `*this`. If you wish to adopt `density`s structure, pass true.

Exceptions

<tt>voxelgrid::error::InvalidStructure</tt> If density's structure is different to getStructure() and adoptStructure is false.

Definition at line 100 of file VoxelGrid.cpp.

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◆ writeJson() [1/2]

void writeJson ( const std::filesystem::path & file ) const

Definition at line 137 of file VoxelGrid.cpp.

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◆ writeJson() [2/2]

void writeJson ( std::ostream & os ) const

Write this voxel grid to JSON.

Definition at line 132 of file VoxelGrid.cpp.

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Member Data Documentation

◆ JSON_VOXEL_ARRAY_NAME

const std::string JSON_VOXEL_ARRAY_NAME = "labels"

static

Name of the single voxel array in JSON.

Definition at line 124 of file VoxelGrid.h.

The documentation for this class was generated from the following files:

VisionX/libraries/VoxelGrids/LabelOccupancy/VoxelGrid.h
VisionX/libraries/VoxelGrids/LabelOccupancy/VoxelGrid.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VoxelGrid() [1/5]

◆ VoxelGrid() [2/5]

◆ VoxelGrid() [3/5]

◆ VoxelGrid() [4/5]

◆ VoxelGrid() [5/5]

Member Function Documentation

◆ fromLabelDensity()

◆ getUniqueLabels()

◆ readJson() [1/2]

◆ readJson() [2/2]

◆ setByLabelDensity()

◆ writeJson() [1/2]

◆ writeJson() [2/2]

Member Data Documentation

◆ JSON_VOXEL_ARRAY_NAME