A 3D grid of voxels of type _VoxelT. More...

#include <VisionX/libraries/VoxelGridCore/VoxelGrid.hpp>

Public Types
using	VoxelT = _VoxelT
	The voxel type. More...

Public Member Functions
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...

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...

Protected Attributes
VoxelGridStructure	_struct
	The geometric structure. More...

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

Friends
template<class VoxelType >
std::ostream &	operator<< (std::ostream &os, const VoxelGrid< VoxelType > &grid)
	Stream a human-readable description of the grid's structure. More...

Detailed Description

template<typename _VoxelT>
class visionx::voxelgrid::VoxelGrid< _VoxelT >

A 3D grid of voxels of type _VoxelT.

A VoxelGrid three-dimensional regular grid of cuboids, called voxels. Its geometric structure is defined by a VoxelGridStructure. In addition, it stores voxel data of type _VoxelT (one per voxel).

This is a generic implementation made to hold hold arbitrary data. As such, there is no concept of "free/occupied" voxels".

See also: VoxelGridStructure

Definition at line 49 of file VoxelGrid.hpp.

Member Typedef Documentation

◆ VoxelT

using VoxelT = _VoxelT

The voxel type.

Definition at line 53 of file VoxelGrid.hpp.

Constructor & Destructor Documentation

◆ VoxelGrid() [1/5]

VoxelGrid

Construct a voxel grid with 0 voxels of size 1.0.

Definition at line 524 of file VoxelGrid.hpp.

◆ VoxelGrid() [2/5]

VoxelGrid	(	const VoxelGridStructure &	structure,
		const VoxelT &	value = `{}`
	)

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

Definition at line 529 of file VoxelGrid.hpp.

◆ VoxelGrid() [3/5]

VoxelGrid	(	const VoxelGridStructure &	structure,
		const std::vector< VoxelGrid< _VoxelT >::VoxelT > &	voxelData
	)

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 535 of file VoxelGrid.hpp.

◆ VoxelGrid() [4/5]

VoxelGrid ( const VoxelGrid< OtherVoxelT > & other )

Construct a voxel grid with the same structure as other.

Definition at line 548 of file VoxelGrid.hpp.

◆ VoxelGrid() [5/5]

VoxelGrid ( const VoxelGrid< VoxelT > & other )

default

Ordinary copy constructor for voxel grid with same VoxelT.

Member Function Documentation

◆ begin() [1/2]

std::vector<VoxelT>::iterator begin ( )

inline

Get an iterator to the first voxel.

Definition at line 469 of file VoxelGrid.hpp.

◆ begin() [2/2]

std::vector<VoxelT>::const_iterator begin ( ) const

inline

Get an iterator to the first voxel.

Definition at line 476 of file VoxelGrid.hpp.

◆ cbegin()

std::vector<VoxelT>::const_iterator cbegin ( ) const

inline

Get an iterator to the first voxel.

Definition at line 483 of file VoxelGrid.hpp.

◆ cend()

std::vector<VoxelT>::const_iterator cend ( ) const

inline

Get an iterator to the element following the last voxel.

Definition at line 504 of file VoxelGrid.hpp.

◆ checkIsInside()

void checkIsInside ( const Eigen::Vector3i & index ) const

inline

Assert that the given index is a valid grid index.

Definition at line 436 of file VoxelGrid.hpp.

◆ end() [1/2]

std::vector<VoxelT>::iterator end ( )

inline

Get an iterator to the element following the last voxel.

Definition at line 490 of file VoxelGrid.hpp.

◆ end() [2/2]

std::vector<VoxelT>::const_iterator end ( ) const

inline

Get an iterator to the element following the last voxel.

Definition at line 497 of file VoxelGrid.hpp.

◆ getCenter()

Eigen::Vector3f getCenter ( ) const

inline

Get the geometric center of the grid the world frame (which differs from the origin for even grid sizes).

Definition at line 338 of file VoxelGrid.hpp.

◆ getCenterPose()

Eigen::Matrix4f getCenterPose ( ) const

inline

Get the grid pose positioned at the grid center in the world frame.

Definition at line 379 of file VoxelGrid.hpp.

◆ getExtents()

Eigen::Vector3f getExtents ( ) const

inline

Get extent of the grid along each axis (encompassing the whole voxels).

Definition at line 394 of file VoxelGrid.hpp.

◆ getExtentsOfCenters()

Eigen::Vector3f getExtentsOfCenters ( ) const

inline

Get extent of the grid along each axis (encompassing only voxel centers).

Definition at line 401 of file VoxelGrid.hpp.

◆ getGridSizes()

Eigen::Vector3i getGridSizes ( ) const

inline

Get the grid size.

Definition at line 189 of file VoxelGrid.hpp.

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◆ getLocalBoundingBox()

Eigen::Matrix32f getLocalBoundingBox ( ) const

inline

Get the local axis aligned bounding box of the grid (minimal/maximal values in columns).

Definition at line 408 of file VoxelGrid.hpp.

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◆ getLocalBoundingBoxOfCenters()

Eigen::Matrix32f getLocalBoundingBoxOfCenters ( ) const

inline

Get the local axis aligned bounding box of the voxel centers (minimal/maximal values in columns).

Definition at line 415 of file VoxelGrid.hpp.

◆ getNumVoxels()

std::size_t getNumVoxels ( ) const

inline

Get the number of voxels in the grid.

Definition at line 182 of file VoxelGrid.hpp.

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◆ getOrientation()

Eigen::Quaternionf getOrientation ( ) const

inline

Get the grid orienation in the world frame.

Definition at line 321 of file VoxelGrid.hpp.

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◆ getOrigin()

Eigen::Vector3f getOrigin ( ) const

inline

Get the grid origin in the world frame (center of voxel [0 0 0]).

Note that this differs from the geometric center for even grid sizes.

See also: getCenter()

Definition at line 305 of file VoxelGrid.hpp.

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◆ getPose()

Eigen::Matrix4f getPose ( ) const

inline

Get the grid pose in the world frame.

Note that this differs from the geometric center for even grid sizes.

See also: getCenterPose()

Definition at line 363 of file VoxelGrid.hpp.

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◆ getStructure()

VoxelGridStructure getStructure ( ) const

inline

Get the voxel grid structure.

Definition at line 87 of file VoxelGrid.hpp.

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◆ getVoxel() [1/8]

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

inline

Get the voxel closest to the given point.

Parameters

local If false (default), the point is transformed to local coordinate system.

Definition at line 142 of file VoxelGrid.hpp.

◆ getVoxel() [2/8]

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

inline

Definition at line 148 of file VoxelGrid.hpp.

◆ getVoxel() [3/8]

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

inline

Get the voxel with the given grid index.

See also: operator[]

Definition at line 128 of file VoxelGrid.hpp.

◆ getVoxel() [4/8]

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

inline

Definition at line 134 of file VoxelGrid.hpp.

◆ getVoxel() [5/8]

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

inline

Get the voxel with the given grid index.

See also: operator[]

Definition at line 115 of file VoxelGrid.hpp.

◆ getVoxel() [6/8]

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

inline

Definition at line 121 of file VoxelGrid.hpp.

◆ getVoxel() [7/8]

VoxelT& getVoxel ( std::size_t index )

inline

Get the voxel with the given index.

See also: operator[]

Definition at line 102 of file VoxelGrid.hpp.

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◆ getVoxel() [8/8]

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

inline

Definition at line 108 of file VoxelGrid.hpp.

◆ getVoxelCenter() [1/3]

Eigen::Vector3f getVoxelCenter	(	const Eigen::Vector3i &	index,
		bool	local = `false`
	)		const

inline

Get the center of the voxel with the given index.

Definition at line 296 of file VoxelGrid.hpp.

◆ getVoxelCenter() [2/3]

Eigen::Vector3f getVoxelCenter	(	int	x,
		int	y,
		int	z,
		bool	local = `false`
	)		const

inline

Get the center of the voxel with the given index.

Definition at line 289 of file VoxelGrid.hpp.

◆ getVoxelCenter() [3/3]

Eigen::Vector3f getVoxelCenter	(	std::size_t	index,
		bool	local = `false`
	)		const

inline

Get the center of the voxel with the given index.

Definition at line 282 of file VoxelGrid.hpp.

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◆ getVoxelFlatIndex() [1/3]

std::size_t getVoxelFlatIndex	(	const Eigen::Vector3f &	point,
		bool	local = `false`
	)		const

inline

Get the flat index of the voxel closest to point.

Definition at line 246 of file VoxelGrid.hpp.

◆ getVoxelFlatIndex() [2/3]

std::size_t getVoxelFlatIndex ( const Eigen::Vector3i & index ) const

inline

Get the flat index of the voxel with given grid index.

Definition at line 239 of file VoxelGrid.hpp.

◆ getVoxelFlatIndex() [3/3]

std::size_t getVoxelFlatIndex	(	int	x,
		int	y,
		int	z
	)		const

inline

Get the flat index of the voxel with given grid index.

Definition at line 232 of file VoxelGrid.hpp.

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◆ getVoxelGridIndex() [1/2]

Eigen::Vector3i getVoxelGridIndex	(	const Eigen::Vector3f &	point,
		bool	local = `false`
	)		const

inline

Get the grid index of the voxel closest to point.

Parameters

local If false (default), the point is transformed to local coordinate system.

Definition at line 261 of file VoxelGrid.hpp.

◆ getVoxelGridIndex() [2/2]

Eigen::Vector3i getVoxelGridIndex ( size_t index ) const

inline

Get the grid index of the voxel with the given flat index.

Definition at line 253 of file VoxelGrid.hpp.

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◆ getVoxelGridIndexMax()

Eigen::Vector3i getVoxelGridIndexMax ( ) const

inline

Get the maximal (along each axis) voxel grid index.

Definition at line 275 of file VoxelGrid.hpp.

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◆ getVoxelGridIndexMin()

Eigen::Vector3i getVoxelGridIndexMin ( ) const

inline

Get the minimal (along each axis) voxel grid index.

Definition at line 268 of file VoxelGrid.hpp.

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◆ getVoxels()

const std::vector<VoxelT>& getVoxels ( ) const

inline

Get the voxels.

Note: VoxelGrid provides begin()/end() pairs, so it can be iterated over directly.

Definition at line 156 of file VoxelGrid.hpp.

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◆ getVoxelSizes()

Eigen::Vector3f getVoxelSizes ( ) const

inline

Get the voxel size.

Definition at line 211 of file VoxelGrid.hpp.

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◆ isInside() [1/2]

bool isInside	(	const Eigen::Vector3f &	point,
		bool	local = `false`
	)		const

inline

Indicate whether the given point is inside the voxel.

Definition at line 429 of file VoxelGrid.hpp.

◆ isInside() [2/2]

bool isInside ( const Eigen::Vector3i & index ) const

inline

Indicate whether the given point is inside the voxel.

Definition at line 422 of file VoxelGrid.hpp.

◆ numVoxels()

std::size_t numVoxels ( ) const

inline

Get the number of voxels in the grid.

Definition at line 175 of file VoxelGrid.hpp.

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◆ operator[]() [1/4]

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

inline

Get the voxel with given grid index.

See also: getVoxel(const Eigen::Vector3i&)

Definition at line 456 of file VoxelGrid.hpp.

◆ operator[]() [2/4]

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

inline

Definition at line 462 of file VoxelGrid.hpp.

◆ operator[]() [3/4]

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

inline

Get the voxel with given flat index.

See also: getVoxel(std::size_t)

Definition at line 443 of file VoxelGrid.hpp.

◆ operator[]() [4/4]

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

inline

Definition at line 449 of file VoxelGrid.hpp.

◆ reset()

void reset ( const VoxelT & value = {} )

inline

Reset the voxel data by numVoxels() voxels with given value.

Definition at line 80 of file VoxelGrid.hpp.

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◆ resetStructure()

void resetStructure ( const VoxelGridStructure & structure )

inline

Set the voxel grid structure and reset voxel data.

Definition at line 94 of file VoxelGrid.hpp.

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◆ setCenter()

void setCenter ( const Eigen::Vector3f & value )

inline

Set the geometric center of the grid the world frame (which differs from the origin for even grid sizes).

Note: This computes the origin from the given center using the current orientation. If you want to set grid center and orientation, set the orientation first, or (equivalently), use setCenterPose().

See also: setPoseGridCenter()

Definition at line 354 of file VoxelGrid.hpp.

◆ setCenterPose()

void setCenterPose ( const Eigen::Matrix4f & value )

inline

Set the grid pose so that the grid center is the position of the given pose under the given orientation.

Definition at line 387 of file VoxelGrid.hpp.

◆ setGridSizes() [1/2]

void setGridSizes ( const Eigen::Vector3i & gridSizes )

inline

Set the grid size. This resets the grid data.

Definition at line 203 of file VoxelGrid.hpp.

◆ setGridSizes() [2/2]

void setGridSizes ( float gridSizes )

inline

Set the grid size for a cubic grid. Resets the grid data.

Definition at line 196 of file VoxelGrid.hpp.

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◆ setOrientation()

void setOrientation ( const Eigen::Quaternionf & value )

inline

Set the grid orienation in the world frame.

Definition at line 328 of file VoxelGrid.hpp.

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◆ setOrigin()

void setOrigin ( const Eigen::Vector3f & value )

inline

Set the grid origin the world frame (center of voxel [0 0 0]).

Note that this differs from the geometric center for even grid sizes.

See also: setCenter()

Definition at line 314 of file VoxelGrid.hpp.

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◆ setPose()

void setPose ( const Eigen::Matrix4f & value )

inline

Get the grid pose in the world frame.

Note that this differs from the geometric center for even grid sizes.

See also: setCenterPose()

Definition at line 372 of file VoxelGrid.hpp.

◆ setVoxels()

void setVoxels ( const std::vector< VoxelT > & voxels )

inline

Set the voxels.

(Size must match numVoxels()).

Exceptions

error::InvalidVoxelDataSize If the size does not match.

Definition at line 164 of file VoxelGrid.hpp.

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◆ setVoxelSizes() [1/2]

void setVoxelSizes ( const Eigen::Vector3f & voxelSizes )

inline

Set the voxel size. The grid data is not updated.

Definition at line 225 of file VoxelGrid.hpp.

◆ setVoxelSizes() [2/2]

void setVoxelSizes ( float voxelSize )

inline

Set the voxel size of cubic voxels. The grid data is not updated.

Definition at line 218 of file VoxelGrid.hpp.

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Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const VoxelGrid< VoxelType > &	grid
	)

friend

Stream a human-readable description of the grid's structure.

Member Data Documentation

◆ _struct

VoxelGridStructure _struct

protected

The geometric structure.

Definition at line 517 of file VoxelGrid.hpp.

◆ _voxels

std::vector<VoxelT> _voxels

protected

The voxel data.

Definition at line 520 of file VoxelGrid.hpp.

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

VisionX/libraries/VoxelGridCore/VoxelGrid.hpp

Public Types

Public Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _VoxelT> class visionx::voxelgrid::VoxelGrid< _VoxelT >

Member Typedef Documentation

◆ VoxelT

Constructor & Destructor Documentation

◆ VoxelGrid() [1/5]

◆ VoxelGrid() [2/5]

◆ VoxelGrid() [3/5]

◆ VoxelGrid() [4/5]

◆ VoxelGrid() [5/5]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cend()

◆ checkIsInside()

◆ end() [1/2]

◆ end() [2/2]

◆ getCenter()

◆ getCenterPose()

◆ getExtents()

◆ getExtentsOfCenters()

◆ getGridSizes()

◆ getLocalBoundingBox()

◆ getLocalBoundingBoxOfCenters()

◆ getNumVoxels()

◆ getOrientation()

◆ getOrigin()

◆ getPose()

◆ getStructure()

◆ getVoxel() [1/8]

◆ getVoxel() [2/8]

◆ getVoxel() [3/8]

◆ getVoxel() [4/8]

◆ getVoxel() [5/8]

◆ getVoxel() [6/8]

◆ getVoxel() [7/8]

◆ getVoxel() [8/8]

◆ getVoxelCenter() [1/3]

◆ getVoxelCenter() [2/3]

◆ getVoxelCenter() [3/3]

◆ getVoxelFlatIndex() [1/3]

◆ getVoxelFlatIndex() [2/3]

◆ getVoxelFlatIndex() [3/3]

◆ getVoxelGridIndex() [1/2]

◆ getVoxelGridIndex() [2/2]

◆ getVoxelGridIndexMax()

◆ getVoxelGridIndexMin()

◆ getVoxels()

◆ getVoxelSizes()

◆ isInside() [1/2]

◆ isInside() [2/2]

◆ numVoxels()

◆ operator[]() [1/4]

◆ operator[]() [2/4]

◆ operator[]() [3/4]

◆ operator[]() [4/4]

◆ reset()

◆ resetStructure()

◆ setCenter()

◆ setCenterPose()

◆ setGridSizes() [1/2]

◆ setGridSizes() [2/2]

◆ setOrientation()

◆ setOrigin()

◆ setPose()

◆ setVoxels()

◆ setVoxelSizes() [1/2]

◆ setVoxelSizes() [2/2]

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ _struct

◆ _voxels

template<typename _VoxelT>
class visionx::voxelgrid::VoxelGrid< _VoxelT >