Namespaces
namespace	details

Classes
struct	CoordT
struct	EmptyVoxel
class	Grid
	The Grid class is used to store data in a cube. More...
class	GridBlockAllocator
	The GridBlockAllocator is used to pre-allocate the meory of multiple Grids in "chunks". More...
struct	HeaderInfo
class	Mask
struct	Point3D
class	ProbabilisticMap
	The ProbabilisticMap class is meant to behave as much as possible as octomap::Octree, given the same voxel size. More...
struct	type_has_member_x
struct	type_has_member_x< T, std::void_t< decltype(T::x)> >
struct	type_has_method_x
struct	type_has_method_x< T, std::void_t< decltype(T().x())> >
struct	type_is_vector
struct	type_is_vector< std::array< T, 3 > >
struct	type_is_vector< std::vector< T, A > >
class	VoxelGrid

Typedefs
using	BinaryVoxelGrid = VoxelGrid<EmptyVoxel>

Enumerations
enum	ClearOption { CLEAR_MEMORY , SET_ALL_CELLS_OFF }

Functions
void	ComputeRay (const CoordT &key_origin, const CoordT &key_end, std::vector< CoordT > &ray)
template<typename PointOut, typename PointIn>
PointOut	ConvertPoint (const PointIn &v)
Point3D	CoordToPos (const CoordT &coord, double resolution)
template<typename DataT>
VoxelGrid< DataT >	Deserialize (std::istream &input, HeaderInfo info)
	Deserialize create a grid.
HeaderInfo	GetHeaderInfo (std::string header)
	GetHeaderInfo is used to recover informations from the header of a file/stream.
CoordT	PosToCoord (const Point3D &point, double inv_resolution)
template<class Functor>
void	RayIterator (const CoordT &key_origin, const CoordT &key_end, const Functor &func)
template<typename T>
T	Read (std::istream &input)
bool	ReadPointsFromPCD (const std::string &filepath, std::vector< Eigen::Vector3d > &points)
bool	ReadPointsFromPCD (const std::string &filepath, std::vector< Point3D > &points)
template<typename DataT>
void	Serialize (std::ostream &out, const VoxelGrid< DataT > &grid)
	Serialize a grid to ostream.
template<typename T>
void	Write (std::ostream &out, const T &val)
void	WritePointsFromPCD (const std::string &filepath, const std::vector< Bonxai::CoordT > &points)
void	WritePointsFromPCD (const std::string &filepath, const std::vector< Bonxai::Point3D > &points)
void	WritePointsFromPCD (const std::string &filepath, const std::vector< Eigen::Vector3d > &points)

Typedef Documentation

◆ BinaryVoxelGrid

using BinaryVoxelGrid = VoxelGrid<EmptyVoxel>

Enumeration Type Documentation

◆ ClearOption

enum ClearOption

Enumerator
CLEAR_MEMORY
SET_ALL_CELLS_OFF

Function Documentation

◆ ComputeRay()

void ComputeRay	(	const CoordT &	key_origin,
		const CoordT &	key_end,
		std::vector< CoordT > &	ray )

◆ ConvertPoint()

template<typename PointOut, typename PointIn>

PointOut ConvertPoint ( const PointIn & v )

◆ CoordToPos()

Point3D CoordToPos	(	const CoordT &	coord,
		double	resolution )

nodiscard

◆ Deserialize()

template<typename DataT>

VoxelGrid< DataT > Deserialize	(	std::istream &	input,
		HeaderInfo	info )

Deserialize create a grid.

Note that template arguments need to be consistent with HeaderInfo

◆ GetHeaderInfo()

HeaderInfo GetHeaderInfo ( std::string header )

GetHeaderInfo is used to recover informations from the header of a file/stream.

Parameters

header first line of the file

◆ PosToCoord()

CoordT PosToCoord	(	const Point3D &	point,
		double	inv_resolution )

nodiscard

◆ RayIterator()

template<class Functor>

void RayIterator	(	const CoordT &	key_origin,
		const CoordT &	key_end,
		const Functor &	func )

◆ Read()

template<typename T>

T Read ( std::istream & input )

◆ ReadPointsFromPCD() [1/2]

bool ReadPointsFromPCD	(	const std::string &	filepath,
		std::vector< Eigen::Vector3d > &	points )

◆ ReadPointsFromPCD() [2/2]

bool ReadPointsFromPCD	(	const std::string &	filepath,
		std::vector< Point3D > &	points )

◆ Serialize()

template<typename DataT>

void Serialize	(	std::ostream &	out,
		const VoxelGrid< DataT > &	grid )

Serialize a grid to ostream.

Easy :)

◆ Write()