31 #include <unordered_map> 41 class PinholeCameraParameters;
61 Voxel(
const Eigen::Vector3i &grid_index) : grid_index_(grid_index) {}
66 Voxel(
const Eigen::Vector3i &grid_index,
const Eigen::Vector3d &
color)
67 : grid_index_(grid_index),
color_(color) {}
72 Eigen::Vector3i grid_index_ = Eigen::Vector3i(0, 0, 0);
74 Eigen::Vector3d
color_ = Eigen::Vector3d(0, 0, 0);
89 bool IsEmpty()
const override;
90 Eigen::Vector3d GetMinBound()
const override;
91 Eigen::Vector3d GetMaxBound()
const override;
92 Eigen::Vector3d GetCenter()
const override;
95 bool robust =
false)
const override;
96 VoxelGrid &Transform(
const Eigen::Matrix4d &transformation)
override;
97 VoxelGrid &Translate(
const Eigen::Vector3d &translation,
98 bool relative =
true)
override;
100 const Eigen::Vector3d ¢er)
override;
101 VoxelGrid &Rotate(
const Eigen::Matrix3d &R,
102 const Eigen::Vector3d ¢er)
override;
114 Eigen::Vector3i GetVoxel(
const Eigen::Vector3d &point)
const;
118 auto it = voxels_.find(idx);
119 if (it != voxels_.end()) {
120 auto voxel = it->second;
121 return ((voxel.grid_index_.cast<
double>() +
122 Eigen::Vector3d(0.5, 0.5, 0.5)) *
126 return Eigen::Vector3d::Zero();
131 void AddVoxel(
const Voxel &voxel);
134 std::vector<Eigen::Vector3d> GetVoxelBoundingPoints(
135 const Eigen::Vector3i &index)
const;
139 std::vector<bool> CheckIfIncluded(
140 const std::vector<Eigen::Vector3d> &queries);
152 const Image &depth_map,
154 bool keep_voxels_outside_image);
166 const Image &silhouette_mask,
168 bool keep_voxels_outside_image);
173 void CreateFromOctree(
const Octree &octree);
178 std::shared_ptr<geometry::Octree> ToOctree(
const size_t &max_depth)
const;
189 static std::shared_ptr<VoxelGrid> CreateDense(
const Eigen::Vector3d &origin,
190 const Eigen::Vector3d &
color,
203 static std::shared_ptr<VoxelGrid> CreateFromPointCloud(
215 static std::shared_ptr<VoxelGrid> CreateFromPointCloudWithinBounds(
218 const Eigen::Vector3d &min_bound,
219 const Eigen::Vector3d &max_bound);
227 static std::shared_ptr<VoxelGrid> CreateFromTriangleMesh(
238 static std::shared_ptr<VoxelGrid> CreateFromTriangleMeshWithinBounds(
241 const Eigen::Vector3d &min_bound,
242 const Eigen::Vector3d &max_bound);
247 std::vector<Voxel> GetVoxels()
const;
251 double voxel_size_ = 0.0;
253 Eigen::Vector3d origin_ = Eigen::Vector3d::Zero();
255 std::unordered_map<Eigen::Vector3i,
270 void Add(
const Eigen::Vector3i &voxel_index) {
273 "Tried to aggregate ColorVoxel with different " 276 voxel_index_ = voxel_index;
279 void Add(
const Eigen::Vector3i &voxel_index,
const Eigen::Vector3d &
color) {
Eigen::Vector3d color_
Definition: PointCloud.cpp:262
The base geometry class.
Definition: Geometry.h:37
void Add(const Eigen::Vector3i &voxel_index)
Definition: VoxelGrid.h:270
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
void Add(const Eigen::Vector3i &voxel_index, const Eigen::Vector3d &color)
Definition: VoxelGrid.h:279
Voxel(const Eigen::Vector3i &grid_index)
Parameterized Constructor.
Definition: VoxelGrid.h:61
Eigen::Vector3d color_
Definition: VoxelGrid.h:298
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
Eigen::Vector3i voxel_index_
Definition: VoxelGrid.h:297
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:55
Eigen::Vector3d GetVoxelCenterCoordinate(const Eigen::Vector3i &idx) const
Function that returns the 3d coordinates of the queried voxel center.
Definition: VoxelGrid.h:117
bool HasVoxels() const
Returns true if the voxel grid contains voxels.
Definition: VoxelGrid.h:108
VoxelGrid()
Default Constructor.
Definition: VoxelGrid.h:83
int num_of_points_
Definition: PointCloud.cpp:259
#define LogWarning(...)
Definition: Logging.h:79
~VoxelGrid() override
Definition: VoxelGrid.h:86
math::float4 color
Definition: LineSetBuffers.cpp:64
AvgColorVoxel()
Definition: VoxelGrid.h:267
The base geometry class for 3D geometries.
Definition: Geometry3D.h:47
Class to aggregate color values from different votes in one voxel Computes the average color value in...
Definition: VoxelGrid.h:265
~Voxel()
Definition: VoxelGrid.h:68
bool HasColors() const
Returns true if the voxel grid contains voxel colors.
Definition: VoxelGrid.h:110
Contains both intrinsic and extrinsic pinhole camera parameters.
Definition: PinholeCameraParameters.h:40
std::unordered_map< Eigen::Vector3i, Voxel, utility::hash_eigen< Eigen::Vector3i > > voxels_
Voxels contained in voxel grid.
Definition: VoxelGrid.h:258
Definition: PinholeCameraIntrinsic.cpp:35
VoxelGrid is a collection of voxels which are aligned in grid.
Definition: VoxelGrid.h:80
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
Tensor operator+(T scalar_lhs, const Tensor &rhs)
Definition: Tensor.h:1374
Eigen::Vector3d GetAverageColor() const
Definition: VoxelGrid.h:287
Octree datastructure.
Definition: Octree.h:263
int num_of_points_
Definition: VoxelGrid.h:296
Base Voxel class, containing grid id and color.
Definition: VoxelGrid.h:54
Eigen::Vector3i GetVoxelIndex() const
Definition: VoxelGrid.h:285
Voxel()
Default Constructor.
Definition: VoxelGrid.h:57
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
Voxel(const Eigen::Vector3i &grid_index, const Eigen::Vector3d &color)
Parameterized Constructor.
Definition: VoxelGrid.h:66
The Image class stores image with customizable width, height, num of channels and bytes per channel...
Definition: Image.h:53