Class to store voxel grids in a vectorized JSON format. More...

#include <VisionX/libraries/VoxelGridCore/io/JsonIO.h>

Static Public Member Functions
template<class VoxelT >
static void	fromJson (const nlohmann::json &j, VoxelGrid< VoxelT > &grid, const std::string &voxelArrayName="voxels")
	Deserialize a voxel grid from JSON with plain voxel array (with name `voxelArrayName`). More...

template<class VoxelT >
static void	fromJson (const nlohmann::json &j, VoxelGrid< VoxelT > &grid, const VoxelAttributeSetterMap< VoxelT > &attributeMap)
	Deserialize a voxel grid from JSON. More...

template<class VoxelT >
static VoxelGrid< VoxelT >	read (const std::string &filename, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Read a voxel grid from file. More...

template<class VoxelT >
static void	read (const std::string &filename, VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Read a voxel grid from file. More...

template<class VoxelT >
static VoxelGrid< VoxelT >	read (std::istream &is, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Read a voxel grid from `is`. More...

template<class VoxelT >
static void	read (std::istream &is, VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Read a voxel grid from `is`. More...

static nlohmann::json	readJson (const std::string &filename)
	Read JSON from file. More...

static nlohmann::json	readJson (std::istream &is)
	Read JSON json `is`. More...

template<class VoxelT >
static nlohmann::json	toJson (const VoxelGrid< VoxelT > &grid, const std::string &voxelArrayName="voxels")
	Serialize a voxel grid to JSON with plain voxel array (with name `voxelArrayName`). More...

template<class VoxelT >
static nlohmann::json	toJson (const VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Serialize a voxel grid to JSON. More...

template<class VoxelT >
static void	toJson (nlohmann::json &j, const VoxelGrid< VoxelT > &grid, const std::string &voxelArrayName="voxels")
	Serialize a voxel grid to JSON with plain voxel array (with name `voxelArrayName`). More...

template<class VoxelT >
static void	toJson (nlohmann::json &j, const VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap)
	Serialize a voxel grid to JSON. More...

template<class VoxelT >
static void	write (const std::string &filename, const VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap, int indent=-1, char indentChar=' ')
	Write a voxel grid to file. More...

template<class VoxelT >
static void	write (std::ostream &os, const VoxelGrid< VoxelT > &grid, const VoxelAttributeGetterMap< VoxelT > &attributeMap, int indent=-1, char indentChar=' ')
	Write a voxel grid to `os`. More...

static void	writeJson (const std::string &filename, const nlohmann::json &j, int indent=-1, char indentChar=' ')
	Write JSON json to file. More...

static void	writeJson (std::ostream &os, const nlohmann::json &j, int indent=-1, char indentChar=' ')
	Write JSON json to `os`. More...

Detailed Description

Class to store voxel grids in a vectorized JSON format.

The methods in class can be used to store voxel grids in JSON format. A voxel grid essentially consists of its structure (grid and voxel size, pose) and its voxel data.

In the format produced by this class, there is one top-level JSON element for each voxel attribute to store. Each of this elements is an array storing the attribute value of each voxel.

For example, if a voxel has two attributes, int foo and float bar, the produces JSON object would look like this:

{
  "structure: { ... },
  "foo": [0 1 1 2 ... -1 0],
  "bar": [0.0, 1.0, 1.1, ... , 0.0, -1.0]
}

This is done to reduce the redundancy of JSON for a large number of voxels.

Definition at line 93 of file JsonIO.h.

Member Function Documentation

◆ fromJson() [1/2]

void fromJson	(	const nlohmann::json &	j,
		VoxelGrid< VoxelT > &	grid,
		const std::string &	voxelArrayName = `"voxels"`
	)

static

Deserialize a voxel grid from JSON with plain voxel array (with name voxelArrayName).

VoxelT must provide an implementation of from_json().

Definition at line 318 of file JsonIO.h.

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◆ fromJson() [2/2]

void fromJson	(	const nlohmann::json &	j,
		VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeSetterMap< VoxelT > &	attributeMap
	)

static

Deserialize a voxel grid from JSON.

Definition at line 295 of file JsonIO.h.

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◆ read() [1/4]

VoxelGrid< VoxelT > read	(	const std::string &	filename,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

static

Read a voxel grid from file.

Definition at line 218 of file JsonIO.h.

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◆ read() [2/4]

static void read	(	const std::string &	filename,
		VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

inlinestatic

Read a voxel grid from file.

Definition at line 127 of file JsonIO.h.

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◆ read() [3/4]

VoxelGrid< VoxelT > read	(	std::istream &	is,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

static

Read a voxel grid from is.

Definition at line 227 of file JsonIO.h.

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◆ read() [4/4]

static void read	(	std::istream &	is,
		VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

inlinestatic

Read a voxel grid from is.

Definition at line 142 of file JsonIO.h.

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◆ readJson() [1/2]

nlohmann::json readJson ( const std::string & filename )

static

Read JSON from file.

Definition at line 24 of file JsonIO.cpp.

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◆ readJson() [2/2]

nlohmann::json readJson ( std::istream & is )

static

Read JSON json is.

Definition at line 31 of file JsonIO.cpp.

◆ toJson() [1/4]

nlohmann::json toJson	(	const VoxelGrid< VoxelT > &	grid,
		const std::string &	voxelArrayName = `"voxels"`
	)

static

Serialize a voxel grid to JSON with plain voxel array (with name voxelArrayName).

VoxelT must provide an implementation of to_json().

Definition at line 286 of file JsonIO.h.

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◆ toJson() [2/4]

nlohmann::json toJson	(	const VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

static

Serialize a voxel grid to JSON.

Definition at line 236 of file JsonIO.h.

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◆ toJson() [3/4]

void toJson	(	nlohmann::json &	j,
		const VoxelGrid< VoxelT > &	grid,
		const std::string &	voxelArrayName = `"voxels"`
	)

static

Serialize a voxel grid to JSON with plain voxel array (with name voxelArrayName).

VoxelT must provide an implementation of to_json().

Definition at line 274 of file JsonIO.h.

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◆ toJson() [4/4]

void toJson	(	nlohmann::json &	j,
		const VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap
	)

static

Serialize a voxel grid to JSON.

Definition at line 246 of file JsonIO.h.

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◆ write() [1/2]

static void write	(	const std::string &	filename,
		const VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap,
		int	indent = `-1`,
		char	indentChar = `' '`
	)

inlinestatic

Write a voxel grid to file.

Definition at line 101 of file JsonIO.h.

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◆ write() [2/2]

static void write	(	std::ostream &	os,
		const VoxelGrid< VoxelT > &	grid,
		const VoxelAttributeGetterMap< VoxelT > &	attributeMap,
		int	indent = `-1`,
		char	indentChar = `' '`
	)

inlinestatic

Write a voxel grid to os.

Definition at line 113 of file JsonIO.h.

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◆ writeJson() [1/2]

void writeJson	(	const std::string &	filename,
		const nlohmann::json &	j,
		int	indent = `-1`,
		char	indentChar = `' '`
	)

static

Write JSON json to file.

Definition at line 8 of file JsonIO.cpp.

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◆ writeJson() [2/2]

void writeJson	(	std::ostream &	os,
		const nlohmann::json &	j,
		int	indent = `-1`,
		char	indentChar = `' '`
	)

static

Write JSON json to os.

Definition at line 18 of file JsonIO.cpp.

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

VisionX/libraries/VoxelGridCore/io/JsonIO.h
VisionX/libraries/VoxelGridCore/io/JsonIO.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ fromJson() [1/2]

◆ fromJson() [2/2]

◆ read() [1/4]

◆ read() [2/4]

◆ read() [3/4]

◆ read() [4/4]

◆ readJson() [1/2]

◆ readJson() [2/2]

◆ toJson() [1/4]

◆ toJson() [2/4]

◆ toJson() [3/4]

◆ toJson() [4/4]

◆ write() [1/2]

◆ write() [2/2]

◆ writeJson() [1/2]

◆ writeJson() [2/2]