VoxelGrid Class Reference

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.
void	readJson (const std::filesystem::path &file)
void	readJson (std::istream &is)
	Read this voxel grid from JSON.
void	setByLabelDensity (const LabelDensity::VoxelGrid &density, bool adoptStructure=false)
	Set the voxels by selecting the label with most points for each voxel.
	VoxelGrid ()
	Construct a voxel grid with 0 voxels of size 1.0.
	VoxelGrid (const VoxelGrid< OtherVoxelT > &other)
	Construct a voxel grid with the same structure as other.
	VoxelGrid (const VoxelGrid< VoxelT > &other)=default
	Ordinary copy constructor for voxel grid with same VoxelT.
	VoxelGrid (const VoxelGridStructure &structure, const std::vector< VoxelGrid::VoxelT > &voxelData)
	Construct a voxel grid with the given structure and data.
	VoxelGrid (const VoxelGridStructure &structure, const VoxelT &value={})
	Construct a voxel grid with the given structure and voxels with given value.
void	writeJson (const std::filesystem::path &file) const
void	writeJson (std::ostream &os) const
	Write this voxel grid to JSON.
Public Member Functions inherited from VoxelGrid< VoxelT >
std::vector< VoxelT >::iterator	begin ()
	Get an iterator to the first voxel.
std::vector< VoxelT >::iterator	begin ()
	Get an iterator to the first voxel.
std::vector< VoxelT >::const_iterator	begin () const
	Get an iterator to the first voxel.
std::vector< VoxelT >::const_iterator	begin () const
	Get an iterator to the first voxel.
std::vector< VoxelT >::const_iterator	cbegin () const
	Get an iterator to the first voxel.
std::vector< VoxelT >::const_iterator	cbegin () const
	Get an iterator to the first voxel.
std::vector< VoxelT >::const_iterator	cend () const
	Get an iterator to the element following the last voxel.
std::vector< VoxelT >::const_iterator	cend () const
	Get an iterator to the element following the last voxel.
void	checkIsInside (const Eigen::Vector3i &index) const
	Assert that the given index is a valid grid index.
void	checkIsInside (const Eigen::Vector3i &index) const
	Assert that the given index is a valid grid index.
std::vector< VoxelT >::iterator	end ()
	Get an iterator to the element following the last voxel.
std::vector< VoxelT >::iterator	end ()
	Get an iterator to the element following the last voxel.
std::vector< VoxelT >::const_iterator	end () const
	Get an iterator to the element following the last voxel.
std::vector< VoxelT >::const_iterator	end () const
	Get an iterator to the element following the last voxel.
Eigen::Vector3f	getCenter () const
	Get the geometric center of the grid the world frame (which differs from the origin for even grid sizes).
Eigen::Vector3f	getCenter () const
	Get the geometric center of the grid the world frame (which differs from the origin for even grid sizes).
Eigen::Matrix4f	getCenterPose () const
	Get the grid pose positioned at the grid center in the world frame.
Eigen::Matrix4f	getCenterPose () const
	Get the grid pose positioned at the grid center in the world frame.
Eigen::Vector3f	getExtents () const
	Get extent of the grid along each axis (encompassing the whole voxels).
Eigen::Vector3f	getExtents () const
	Get extent of the grid along each axis (encompassing the whole voxels).
Eigen::Vector3f	getExtentsOfCenters () const
	Get extent of the grid along each axis (encompassing only voxel centers).
Eigen::Vector3f	getExtentsOfCenters () const
	Get extent of the grid along each axis (encompassing only voxel centers).
Eigen::Vector3i	getGridSizes () const
	Get the grid size.
Eigen::Vector3i	getGridSizes () const
	Get the grid size.
Eigen::Matrix32f	getLocalBoundingBox () const
	Get the local axis aligned bounding box of the grid (minimal/maximal values in columns).
Eigen::Matrix32f	getLocalBoundingBox () const
	Get the local axis aligned bounding box of the grid (minimal/maximal values in columns).
Eigen::Matrix32f	getLocalBoundingBoxOfCenters () const
	Get the local axis aligned bounding box of the voxel centers (minimal/maximal values in columns).
Eigen::Matrix32f	getLocalBoundingBoxOfCenters () const
	Get the local axis aligned bounding box of the voxel centers (minimal/maximal values in columns).
std::size_t	getNumVoxels () const
	Get the number of voxels in the grid.
std::size_t	getNumVoxels () const
	Get the number of voxels in the grid.
Eigen::Quaternionf	getOrientation () const
	Get the grid orienation in the world frame.
Eigen::Quaternionf	getOrientation () const
	Get the grid orienation in the world frame.
Eigen::Vector3f	getOrigin () const
	Get the grid origin in the world frame (center of voxel [0 0 0]).
Eigen::Vector3f	getOrigin () const
	Get the grid origin in the world frame (center of voxel [0 0 0]).
Eigen::Matrix4f	getPose () const
	Get the grid pose in the world frame.
Eigen::Matrix4f	getPose () const
	Get the grid pose in the world frame.
VoxelGridStructure	getStructure () const
	Get the voxel grid structure.
VoxelGridStructure	getStructure () const
	Get the voxel grid structure.
VoxelT &	getVoxel (const Eigen::Vector3f &point, bool local=false)
	Get the voxel closest to the given point.
VoxelT &	getVoxel (const Eigen::Vector3f &point, bool local=false)
	Get the voxel closest to the given point.
const VoxelT &	getVoxel (const Eigen::Vector3f &point, bool local=false) const
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.
VoxelT &	getVoxel (const Eigen::Vector3i &index)
	Get the voxel with the given grid index.
const VoxelT &	getVoxel (const Eigen::Vector3i &index) const
const VoxelT &	getVoxel (const Eigen::Vector3i &index) const
VoxelT &	getVoxel (int x, int y, int z)
	Get the voxel with the given grid index.
VoxelT &	getVoxel (int x, int y, int z)
	Get the voxel with the given grid index.
const VoxelT &	getVoxel (int x, int y, int z) const
const VoxelT &	getVoxel (int x, int y, int z) const
VoxelT &	getVoxel (std::size_t index)
	Get the voxel with the given index.
VoxelT &	getVoxel (std::size_t index)
	Get the voxel with the given index.
const VoxelT &	getVoxel (std::size_t index) const
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.
Eigen::Vector3f	getVoxelCenter (const Eigen::Vector3i &index, bool local=false) const
	Get the center of the voxel with the given index.
Eigen::Vector3f	getVoxelCenter (int x, int y, int z, bool local=false) const
	Get the center of the voxel with the given index.
Eigen::Vector3f	getVoxelCenter (int x, int y, int z, bool local=false) const
	Get the center of the voxel with the given index.
Eigen::Vector3f	getVoxelCenter (std::size_t index, bool local=false) const
	Get the center of the voxel with the given index.
Eigen::Vector3f	getVoxelCenter (std::size_t index, bool local=false) const
	Get the center of the voxel with the given index.
std::size_t	getVoxelFlatIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the flat index of the voxel closest to point.
std::size_t	getVoxelFlatIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the flat index of the voxel closest to point.
std::size_t	getVoxelFlatIndex (const Eigen::Vector3i &index) const
	Get the flat index of the voxel with given grid index.
std::size_t	getVoxelFlatIndex (const Eigen::Vector3i &index) const
	Get the flat index of the voxel with given grid index.
std::size_t	getVoxelFlatIndex (int x, int y, int z) const
	Get the flat index of the voxel with given grid index.
std::size_t	getVoxelFlatIndex (int x, int y, int z) const
	Get the flat index of the voxel with given grid index.
Eigen::Vector3i	getVoxelGridIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the grid index of the voxel closest to point.
Eigen::Vector3i	getVoxelGridIndex (const Eigen::Vector3f &point, bool local=false) const
	Get the grid index of the voxel closest to point.
Eigen::Vector3i	getVoxelGridIndex (size_t index) const
	Get the grid index of the voxel with the given flat index.
Eigen::Vector3i	getVoxelGridIndex (size_t index) const
	Get the grid index of the voxel with the given flat index.
Eigen::Vector3i	getVoxelGridIndexMax () const
	Get the maximal (along each axis) voxel grid index.
Eigen::Vector3i	getVoxelGridIndexMax () const
	Get the maximal (along each axis) voxel grid index.
Eigen::Vector3i	getVoxelGridIndexMin () const
	Get the minimal (along each axis) voxel grid index.
Eigen::Vector3i	getVoxelGridIndexMin () const
	Get the minimal (along each axis) voxel grid index.
const std::vector< VoxelT > &	getVoxels () const
	Get the voxels.
const std::vector< VoxelT > &	getVoxels () const
	Get the voxels.
Eigen::Vector3f	getVoxelSizes () const
	Get the voxel size.
Eigen::Vector3f	getVoxelSizes () const
	Get the voxel size.
bool	isInside (const Eigen::Vector3f &point, bool local=false) const
	Indicate whether the given point is inside the voxel.
bool	isInside (const Eigen::Vector3f &point, bool local=false) const
	Indicate whether the given point is inside the voxel.
bool	isInside (const Eigen::Vector3i &index) const
	Indicate whether the given point is inside the voxel.
bool	isInside (const Eigen::Vector3i &index) const
	Indicate whether the given point is inside the voxel.
std::size_t	numVoxels () const
	Get the number of voxels in the grid.
std::size_t	numVoxels () const
	Get the number of voxels in the grid.
VoxelT &	operator[] (const Eigen::Vector3i &index)
	Get the voxel with given grid index.
VoxelT &	operator[] (const Eigen::Vector3i &index)
	Get the voxel with given grid index.
const VoxelT &	operator[] (const Eigen::Vector3i &index) const
const VoxelT &	operator[] (const Eigen::Vector3i &index) const
VoxelT &	operator[] (std::size_t index)
	Get the voxel with given flat index.
VoxelT &	operator[] (std::size_t index)
	Get the voxel with given flat index.
const VoxelT &	operator[] (std::size_t index) const
const VoxelT &	operator[] (std::size_t index) const
void	reset (const VoxelT &value={})
	Reset the voxel data by numVoxels() voxels with given value.
void	reset (const VoxelT &value={})
	Reset the voxel data by numVoxels() voxels with given value.
void	resetStructure (const VoxelGridStructure &structure)
	Set the voxel grid structure and reset voxel data.
void	resetStructure (const VoxelGridStructure &structure)
	Set the voxel grid structure and reset voxel data.
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).
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).
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.
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.
void	setGridSizes (const Eigen::Vector3i &gridSizes)
	Set the grid size. This resets the grid data.
void	setGridSizes (const Eigen::Vector3i &gridSizes)
	Set the grid size. This resets the grid data.
void	setGridSizes (float gridSizes)
	Set the grid size for a cubic grid. Resets the grid data.
void	setGridSizes (float gridSizes)
	Set the grid size for a cubic grid. Resets the grid data.
void	setOrientation (const Eigen::Quaternionf &value)
	Set the grid orienation in the world frame.
void	setOrientation (const Eigen::Quaternionf &value)
	Set the grid orienation in the world frame.
void	setOrigin (const Eigen::Vector3f &value)
	Set the grid origin the world frame (center of voxel [0 0 0]).
void	setOrigin (const Eigen::Vector3f &value)
	Set the grid origin the world frame (center of voxel [0 0 0]).
void	setPose (const Eigen::Matrix4f &value)
	Get the grid pose in the world frame.
void	setPose (const Eigen::Matrix4f &value)
	Get the grid pose in the world frame.
void	setVoxels (const std::vector< VoxelT > &voxels)
	Set the voxels.
void	setVoxels (const std::vector< VoxelT > &voxels)
	Set the voxels.
void	setVoxelSizes (const Eigen::Vector3f &voxelSizes)
	Set the voxel size. The grid data is not updated.
void	setVoxelSizes (const Eigen::Vector3f &voxelSizes)
	Set the voxel size. The grid data is not updated.
void	setVoxelSizes (float voxelSize)
	Set the voxel size of cubic voxels. The grid data is not updated.
void	setVoxelSizes (float voxelSize)
	Set the voxel size of cubic voxels. The grid data is not updated.
	VoxelGrid ()
	Construct a voxel grid with 0 voxels of size 1.0.
	VoxelGrid ()
	Construct a voxel grid with 0 voxels of size 1.0.
	VoxelGrid (const VoxelGrid< OtherVoxelT > &other)
	Construct a voxel grid with the same structure as other.
	VoxelGrid (const VoxelGrid< OtherVoxelT > &other)
	Construct a voxel grid with the same structure as other.
	VoxelGrid (const VoxelGrid< VoxelT > &other)=default
	Ordinary copy constructor for voxel grid with same VoxelT.
	VoxelGrid (const VoxelGrid< VoxelT > &other)=default
	Ordinary copy constructor for voxel grid with same VoxelT.
	VoxelGrid (const VoxelGridStructure &structure, const std::vector< VoxelGrid::VoxelT > &voxelData)
	Construct a voxel grid with the given structure and data.
	VoxelGrid (const VoxelGridStructure &structure, const std::vector< VoxelGrid::VoxelT > &voxelData)
	Construct a voxel grid with the given structure and data.
	VoxelGrid (const VoxelGridStructure &structure, const VoxelT &value={})
	Construct a voxel grid with the given structure and voxels with given value.
	VoxelGrid (const VoxelGridStructure &structure, const VoxelT &value={})
	Construct a voxel grid with the given structure and voxels with given value.

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

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

Additional Inherited Members
Public Types inherited from VoxelGrid< VoxelT >
using	VoxelT
	The voxel type.
Protected Attributes inherited from VoxelGrid< VoxelT >
VoxelGridStructure	_struct
	The geometric structure.
VoxelGridStructure	_struct
	The geometric structure.
std::vector< VoxelT >	_voxels
	The voxel data.
std::vector< VoxelT >	_voxels
	The voxel data.

Detailed Description

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

Constructor & Destructor Documentation

VoxelGrid() [1/5]

VoxelGrid

(

)

Construct a voxel grid with 0 voxels of size 1.0.

VoxelGrid() [2/5]

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

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

VoxelGrid() [3/5]

VoxelGrid	(	const VoxelGridStructure &	structure,
		const std::vector< VoxelGrid::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.

VoxelGrid() [4/5]

VoxelGrid

(

const VoxelGrid< OtherVoxelT > &

other

)

Construct a voxel grid with the same structure as other.

VoxelGrid() [5/5]

VoxelGrid ( const VoxelGrid< VoxelT > & other )

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()

getUniqueLabels()

std::set< Label > getUniqueLabels

(

)

const

Get the set of unique labels in the grid.

readJson() [1/2]

void readJson

(

const std::filesystem::path &

file

)

readJson() [2/2]

void readJson

(

std::istream &

is

)

Read this voxel grid from JSON.

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 densitys structure, pass true.

Exceptions

`voxelgrid::error::InvalidStructure`

If density's structure is different to getStructure() and adoptStructure is false.

writeJson() [1/2]

void writeJson

(

const std::filesystem::path &

file

)

const

writeJson() [2/2]

void writeJson

(

std::ostream &

os

)

const

Write this voxel grid to JSON.

Member Data Documentation

JSON_VOXEL_ARRAY_NAME

const std::string JSON_VOXEL_ARRAY_NAME = "labels"

static

Name of the single voxel array in JSON.

---

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

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