VoxelGrid is a collection of voxels which are aligned in grid. More...

#include <VoxelGrid.h>

Inheritance diagram for cloudViewer::geometry::VoxelGrid:

[legend]

Collaboration diagram for cloudViewer::geometry::VoxelGrid:

[legend]

Public Types
enum class	VoxelPoolingMode { AVG , MIN , MAX , SUM }
	Possible ways of determining voxel color from PointCloud. More...

Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , DP_DELETE_OTHER = 8 , DP_PARENT_OF_OTHER = 24 }
	Dependency flags. More...

enum	SelectionBehavior { SELECTION_AA_BBOX , SELECTION_FIT_BBOX , SELECTION_IGNORED }
	Behavior when selected. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Public Member Functions
	VoxelGrid (const char *name="VoxelGrid")
	Default Constructor. More...

	VoxelGrid (const VoxelGrid &src_voxel_grid, const char *name="VoxelGrid")
	Copy Constructor. More...

	~VoxelGrid () override

virtual bool	isSerializable () const override
	Returns whether object is serializable of not. More...

virtual CV_CLASS_ENUM	getClassID () const override
	Returns unique class ID. More...

virtual ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

VoxelGrid &	Clear ()

virtual bool	IsEmpty () const override

virtual Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

std::vector< Eigen::Vector3d >	GetAllVoxelCorners () const
	Returns the 3D coordinates of all corners of every voxel in the grid. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const override

virtual VoxelGrid &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual VoxelGrid &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

virtual VoxelGrid &	Scale (const double s, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual VoxelGrid &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

VoxelGrid &	operator+= (const VoxelGrid &voxelgrid)

VoxelGrid	operator+ (const VoxelGrid &voxelgrid) const

bool	HasVoxels () const
	Returns `true` if the voxel grid contains voxels. More...

bool	HasColors () const
	Returns `true` if the voxel grid contains voxel colors. More...

Eigen::Vector3i	GetVoxel (const Eigen::Vector3d &point) const
	Returns voxel index given query point. More...

Eigen::Vector3d	GetVoxelCenterCoordinate (const Eigen::Vector3i &idx) const
	Function that returns the 3d coordinates of the queried voxel center. More...

void	AddVoxel (const Voxel &voxel)
	Add a voxel with specified grid index and color. More...

void	RemoveVoxel (const Eigen::Vector3i &idx)
	Remove a voxel with specified grid index. More...

std::vector< Eigen::Vector3d >	GetVoxelBoundingPoints (const Eigen::Vector3i &index) const
	Return a vector of 3D coordinates that define the indexed voxel cube. More...

std::vector< bool >	CheckIfIncluded (const std::vector< Eigen::Vector3d > &queries)

VoxelGrid &	CarveDepthMap (const Image &depth_map, const camera::PinholeCameraParameters &camera_parameter, bool keep_voxels_outside_image)

VoxelGrid &	CarveSilhouette (const Image &silhouette_mask, const camera::PinholeCameraParameters &camera_parameter, bool keep_voxels_outside_image)

void	CreateFromOctree (const Octree &octree)

std::shared_ptr< geometry::Octree >	ToOctree (const size_t &max_depth) const

std::vector< Voxel >	GetVoxels () const

Public Member Functions inherited from ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual Eigen::Vector2d	GetMin2DBound () const

virtual Eigen::Vector2d	GetMax2DBound () const

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. More...

void	addDependency (ccHObject *otherObject, int flags, bool additive=true)
	Adds a new dependence (additive or not) More...

int	getDependencyFlagsWith (const ccHObject *otherObject)
	Returns the dependency flags with a given object. More...

void	removeDependencyWith (ccHObject *otherObject)
	Removes any dependency flags with a given object. More...

void	removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
	Removes a given dependency flag. More...

virtual bool	addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
	Adds a child. More...

unsigned	getChildrenNumber () const
	Returns the number of children. More...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false)

virtual bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual ccBBox	getOwnFitBB (ccGLMatrix &trans)
	Returns best-fit bounding-box (if available) More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

virtual void	notifyGeometryUpdate ()

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual unsigned	getUniqueIDForDisplay () const
	Returns object unqiue ID used for display. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

virtual void	setUniqueID (unsigned ID)
	Changes unique ID. More...

virtual bool	isEnabled () const
	Returns whether the object is enabled or not. More...

virtual void	setEnabled (bool state)
	Sets the "enabled" property. More...

virtual void	toggleActivation ()
	Toggles the "enabled" property. More...

virtual bool	isLocked () const
	Returns whether the object is locked or not. More...

virtual void	setLocked (bool state)
	Sets the "enabled" property. More...

bool	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual void	getDrawingParameters (glDrawParams &params) const
	Returns main OpenGL parameters for this entity. More...

virtual bool	hasColors () const
	Returns whether colors are enabled or not. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	hasNormals () const
	Returns whether normals are enabled or not. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual bool	hasDisplayedScalarField () const
	Returns whether an active scalar field is available or not. More...

virtual bool	hasScalarFields () const
	Returns whether one or more scalar fields are instantiated. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. More...

virtual void	setGLTransformation (const ccGLMatrix &trans)
	Associates entity with a GL transformation (rotation + translation) More...

virtual void	enableGLTransformation (bool state)
	Enables/disables associated GL transformation. More...

virtual bool	isGLTransEnabled () const
	Returns whether a GL transformation is enabled or not. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. More...

Static Public Member Functions
static std::shared_ptr< VoxelGrid >	CreateDense (const Eigen::Vector3d &origin, const Eigen::Vector3d &color, double voxel_size, double width, double height, double depth)

static std::shared_ptr< VoxelGrid >	CreateFromPointCloud (const ccPointCloud &input, double voxel_size, VoxelPoolingMode color_mode=VoxelPoolingMode::AVG)

static std::shared_ptr< VoxelGrid >	CreateFromPointCloudWithinBounds (const ccPointCloud &input, double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound, VoxelPoolingMode color_mode=VoxelPoolingMode::AVG)

static std::shared_ptr< VoxelGrid >	CreateFromTriangleMesh (const ccMesh &input, double voxel_size)

static std::shared_ptr< VoxelGrid >	CreateFromTriangleMeshWithinBounds (const ccMesh &input, double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_CLASS_ENUM	ReadClassIDFromFile (QFile &in, short dataVersion)
	Helper: reads out class ID from a binary stream. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Public Attributes
double	voxel_size_ = 0.0
	Size of the voxel. More...

Eigen::Vector3d	origin_ = Eigen::Vector3d::Zero()
	Coorindate of the origin point. More...

Eigen::Matrix3d	rotation_ = Eigen::Matrix3d::Identity()

std::unordered_map< Eigen::Vector3i, Voxel, cloudViewer::utility::hash_eigen< Eigen::Vector3i > >	voxels_
	Voxels contained in voxel grid. More...

Additional Inherited Members
Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	drawMeOnly (CC_DRAW_CONTEXT &context)
	Draws the entity only (not its children) More...

virtual void	applyGLTransformation (const ccGLMatrix &trans)
	Applies a GL transformation to the entity. More...

virtual bool	toFile_MeOnly (QFile &out, short dataVersion) const
	Save own object data. More...

virtual bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Loads own object data. More...

virtual short	minimumFileVersion_MeOnly () const

virtual void	drawNameIn3D ()
	Draws the entity name in 3D. More...

virtual void	onDeletionOf (const ccHObject *obj)
	This method is called when another object is deleted. More...

virtual void	onUpdateOf (ccHObject *obj)
	This method is called when another object (geometry) is updated. More...

Protected Member Functions inherited from ccObject
virtual bool	getFlagState (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

ccGLMatrix	m_glTrans
	Current GL transformation. More...

bool	m_glTransEnabled
	Current GL transformation activation state. More...

bool	m_showNameIn3D
	Whether name is displayed in 3D or not. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

VoxelGrid is a collection of voxels which are aligned in grid.

Definition at line 64 of file VoxelGrid.h.

Member Enumeration Documentation

◆ VoxelPoolingMode

enum cloudViewer::geometry::VoxelGrid::VoxelPoolingMode

strong

Possible ways of determining voxel color from PointCloud.

Enumerator
AVG
MIN
MAX
SUM

Definition at line 200 of file VoxelGrid.h.

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

cloudViewer::geometry::VoxelGrid::VoxelGrid ( const char * name = "VoxelGrid" )

inline

Default Constructor.

Definition at line 67 of file VoxelGrid.h.

◆ VoxelGrid() [2/2]

cloudViewer::geometry::VoxelGrid::VoxelGrid	(	const VoxelGrid &	src_voxel_grid,
		const char *	name = `"VoxelGrid"`
	)

Copy Constructor.

◆ ~VoxelGrid()

cloudViewer::geometry::VoxelGrid::~VoxelGrid ( )

inlineoverride

Definition at line 70 of file VoxelGrid.h.

Member Function Documentation

◆ AddVoxel()

void cloudViewer::geometry::VoxelGrid::AddVoxel ( const Voxel & voxel )

Add a voxel with specified grid index and color.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CarveDepthMap()

VoxelGrid& cloudViewer::geometry::VoxelGrid::CarveDepthMap	(	const Image &	depth_map,
		const camera::PinholeCameraParameters &	camera_parameter,
		bool	keep_voxels_outside_image
	)

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to depth value that is smaller, or equal than the projected depth of the boundary point. If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters

depth_map	Depth map (Image) used for VoxelGrid carving.
camera_params	Input Camera Parameters.
keep_voxels_outside_image	Project all voxels to a valid location.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CarveSilhouette()

VoxelGrid& cloudViewer::geometry::VoxelGrid::CarveSilhouette	(	const Image &	silhouette_mask,
		const camera::PinholeCameraParameters &	camera_parameter,
		bool	keep_voxels_outside_image
	)

Remove all voxels from the VoxelGrid where none of the boundary points of the voxel projects to a valid mask pixel (pixel value > 0). If keep_voxels_outside_image is true then voxels are only carved if all boundary points project to a valid image location.

Parameters

silhouette_mask	Silhouette mask (Image) used for VoxelGrid carving.
camera_parameter	Input Camera Parameters.
keep_voxels_outside_image	Project all voxels to a valid location.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CheckIfIncluded()

std::vector<bool> cloudViewer::geometry::VoxelGrid::CheckIfIncluded ( const std::vector< Eigen::Vector3d > & queries )

Element-wise check if a query in the list is included in the VoxelGrid Queries are double precision and are mapped to the closest voxel.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ Clear()

VoxelGrid& cloudViewer::geometry::VoxelGrid::Clear ( )

◆ CreateDense()

static std::shared_ptr<VoxelGrid> cloudViewer::geometry::VoxelGrid::CreateDense	(	const Eigen::Vector3d &	origin,
		const Eigen::Vector3d &	color,
		double	voxel_size,
		double	width,
		double	height,
		double	depth
	)

static

Creates a voxel grid where every voxel is set (hence dense). This is a useful starting point for voxel carving.

Parameters

origin	Coordinate center of the VoxelGrid
color	Voxel color for all voxels of the VoxelGrid.
voxel_size	Voxel size of of the VoxelGrid construction.
width	Spatial width extend of the VoxelGrid.
height	Spatial height extend of the VoxelGrid.
depth	Spatial depth extend of the VoxelGrid.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CreateFromOctree()

void cloudViewer::geometry::VoxelGrid::CreateFromOctree ( const Octree & octree )

Create VoxelGrid from Octree

Parameters

octree The input Octree.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CreateFromPointCloud()

static std::shared_ptr<VoxelGrid> cloudViewer::geometry::VoxelGrid::CreateFromPointCloud	(	const ccPointCloud &	input,
		double	voxel_size,
		VoxelPoolingMode	color_mode = `VoxelPoolingMode::AVG`
	)

static

Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is determined by the VoxelPoolingMode, e.g. by default the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are computed from the PointCloud.

Parameters

input	The input PointCloud.
voxel_size	Voxel size of of the VoxelGrid construction.
color_mode	Mode of determining color for each voxel.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CreateFromPointCloudWithinBounds()

static std::shared_ptr<VoxelGrid> cloudViewer::geometry::VoxelGrid::CreateFromPointCloudWithinBounds	(	const ccPointCloud &	input,
		double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound,
		VoxelPoolingMode	color_mode = `VoxelPoolingMode::AVG`
	)

static

Creates a VoxelGrid from a given PointCloud. The color value of a given voxel is determined by the VoxelPoolingMode, e.g. by default the average color value of the points that fall into it (if the PointCloud has colors). The bounds of the created VoxelGrid are defined by the given parameters.

Parameters

input	The input PointCloud.
voxel_size	Voxel size of of the VoxelGrid construction.
min_bound	Minimum boundary point for the VoxelGrid to create.
max_bound	Maximum boundary point for the VoxelGrid to create.
color_mode	Mode of determining color for each voxel.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CreateFromTriangleMesh()

static std::shared_ptr<VoxelGrid> cloudViewer::geometry::VoxelGrid::CreateFromTriangleMesh	(	const ccMesh &	input,
		double	voxel_size
	)

static

Creates a VoxelGrid from a given ccMesh. No color information is converted. The bounds of the created VoxelGrid are computed from the ccMesh.

Parameters

input	The input ccMesh.
voxel_size	Voxel size of of the VoxelGrid construction.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ CreateFromTriangleMeshWithinBounds()

static std::shared_ptr<VoxelGrid> cloudViewer::geometry::VoxelGrid::CreateFromTriangleMeshWithinBounds	(	const ccMesh &	input,
		double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

static

Creates a VoxelGrid from a given ccMesh. No color information is converted. The bounds of the created VoxelGrid are defined by the given parameters..

Parameters

input	The input ccMesh.
voxel_size	Voxel size of of the VoxelGrid construction.
min_bound	Minimum boundary point for the VoxelGrid to create.
max_bound	Maximum boundary point for the VoxelGrid to create.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ GetAllVoxelCorners()

std::vector<Eigen::Vector3d> cloudViewer::geometry::VoxelGrid::GetAllVoxelCorners ( ) const

Returns the 3D coordinates of all corners of every voxel in the grid.

Returns: A std::vector of Eigen::Vector3d representing the corners of all voxels.

◆ GetAxisAlignedBoundingBox()

virtual ccBBox cloudViewer::geometry::VoxelGrid::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Returns an axis-aligned bounding box of the geometry.

Reimplemented from ccHObject.

◆ GetCenter()

virtual Eigen::Vector3d cloudViewer::geometry::VoxelGrid::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Reimplemented from ccHObject.

◆ getClassID()

virtual CV_CLASS_ENUM cloudViewer::geometry::VoxelGrid::getClassID ( ) const

inlineoverridevirtual

Returns unique class ID.

Reimplemented from ccHObject.

Definition at line 76 of file VoxelGrid.h.

References CV_TYPES::VOXEL_GRID.

◆ GetMaxBound()

virtual Eigen::Vector3d cloudViewer::geometry::VoxelGrid::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Reimplemented from ccHObject.

◆ GetMinBound()

virtual Eigen::Vector3d cloudViewer::geometry::VoxelGrid::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Reimplemented from ccHObject.

◆ GetOrientedBoundingBox()

virtual ecvOrientedBBox cloudViewer::geometry::VoxelGrid::GetOrientedBoundingBox ( ) const

overridevirtual

Reimplemented from ccHObject.

◆ getOwnBB()

virtual ccBBox cloudViewer::geometry::VoxelGrid::getOwnBB ( bool withGLFeatures = false )

overridevirtual

Returns the entity's own bounding-box.

Children bboxes are ignored.

Parameters

withGLFeatures whether to take into account display-only elements (if any)

Returns: bounding-box

Reimplemented from ccHObject.

◆ GetVoxel()

Eigen::Vector3i cloudViewer::geometry::VoxelGrid::GetVoxel ( const Eigen::Vector3d & point ) const

Returns voxel index given query point.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ GetVoxelBoundingPoints()

std::vector<Eigen::Vector3d> cloudViewer::geometry::VoxelGrid::GetVoxelBoundingPoints ( const Eigen::Vector3i & index ) const

Return a vector of 3D coordinates that define the indexed voxel cube.

◆ GetVoxelCenterCoordinate()

Eigen::Vector3d cloudViewer::geometry::VoxelGrid::GetVoxelCenterCoordinate ( const Eigen::Vector3i & idx ) const

inline

Function that returns the 3d coordinates of the queried voxel center.

Definition at line 115 of file VoxelGrid.h.

References local.

◆ GetVoxels()

std::vector<Voxel> cloudViewer::geometry::VoxelGrid::GetVoxels ( ) const

Returns List of Voxel: Voxels contained in voxel grid. Changes to the voxels returned from this method are not reflected in the voxel grid.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ HasColors()

bool cloudViewer::geometry::VoxelGrid::HasColors ( ) const

inline

Returns true if the voxel grid contains voxel colors.

Definition at line 108 of file VoxelGrid.h.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ HasVoxels()

bool cloudViewer::geometry::VoxelGrid::HasVoxels ( ) const

inline

Returns true if the voxel grid contains voxels.

Definition at line 106 of file VoxelGrid.h.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ IsEmpty()

virtual bool cloudViewer::geometry::VoxelGrid::IsEmpty ( ) const

inlineoverridevirtual

Reimplemented from ccHObject.

Definition at line 82 of file VoxelGrid.h.

◆ isSerializable()

virtual bool cloudViewer::geometry::VoxelGrid::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccHObject.

Definition at line 73 of file VoxelGrid.h.

◆ operator+()

VoxelGrid cloudViewer::geometry::VoxelGrid::operator+ ( const VoxelGrid & voxelgrid ) const

◆ operator+=()

VoxelGrid& cloudViewer::geometry::VoxelGrid::operator+= ( const VoxelGrid & voxelgrid )

◆ RemoveVoxel()

void cloudViewer::geometry::VoxelGrid::RemoveVoxel ( const Eigen::Vector3i & idx )

Remove a voxel with specified grid index.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ Rotate()

virtual VoxelGrid& cloudViewer::geometry::VoxelGrid::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Reimplemented from ccHObject.

◆ Scale()

virtual VoxelGrid& cloudViewer::geometry::VoxelGrid::Scale	(	const double	s,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor $s$ , and center $c$ , a given point $p$ is transformed according to $s (p - c) + c$ .

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Reimplemented from ccHObject.

◆ ToOctree()

std::shared_ptr<geometry::Octree> cloudViewer::geometry::VoxelGrid::ToOctree ( const size_t & max_depth ) const

Convert to Octree.

Parameters

max_depth Maximum depth of the octree.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ Transform()

virtual VoxelGrid& cloudViewer::geometry::VoxelGrid::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Reimplemented from ccHObject.

◆ Translate()

virtual VoxelGrid& cloudViewer::geometry::VoxelGrid::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Reimplemented from ccHObject.

Member Data Documentation

◆ origin_

Eigen::Vector3d cloudViewer::geometry::VoxelGrid::origin_ = Eigen::Vector3d::Zero()

Coorindate of the origin point.

Definition at line 266 of file VoxelGrid.h.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ rotation_

Eigen::Matrix3d cloudViewer::geometry::VoxelGrid::rotation_ = Eigen::Matrix3d::Identity()

Orientation (rotation) of the voxel grid (world = origin_ + rotation_ * local)

Definition at line 269 of file VoxelGrid.h.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ voxel_size_

double cloudViewer::geometry::VoxelGrid::voxel_size_ = 0.0

Size of the voxel.

Definition at line 264 of file VoxelGrid.h.

Referenced by cloudViewer::geometry::pybind_voxelgrid().

◆ voxels_

std::unordered_map<Eigen::Vector3i, Voxel, cloudViewer::utility::hash_eigen<Eigen::Vector3i> > cloudViewer::geometry::VoxelGrid::voxels_

Voxels contained in voxel grid.

Definition at line 274 of file VoxelGrid.h.

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

/root/ACloudViewer/libs/CV_db/include/VoxelGrid.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ VoxelPoolingMode

Constructor & Destructor Documentation

◆ VoxelGrid() [1/2]

◆ VoxelGrid() [2/2]

◆ ~VoxelGrid()

Member Function Documentation

◆ AddVoxel()

◆ CarveDepthMap()

◆ CarveSilhouette()

◆ CheckIfIncluded()

◆ Clear()

◆ CreateDense()

◆ CreateFromOctree()

◆ CreateFromPointCloud()

◆ CreateFromPointCloudWithinBounds()

◆ CreateFromTriangleMesh()

◆ CreateFromTriangleMeshWithinBounds()

◆ GetAllVoxelCorners()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ getClassID()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ getOwnBB()

◆ GetVoxel()

◆ GetVoxelBoundingPoints()

◆ GetVoxelCenterCoordinate()

◆ GetVoxels()

◆ HasColors()

◆ HasVoxels()

◆ IsEmpty()

◆ isSerializable()

◆ operator+()

◆ operator+=()

◆ RemoveVoxel()

◆ Rotate()

◆ Scale()

◆ ToOctree()

◆ Transform()

◆ Translate()

Member Data Documentation

◆ origin_

◆ rotation_

◆ voxel_size_

◆ voxels_