Template Class Layer¶

Defined in File layer.h

Class Documentation¶

template <typename VoxelType> class Layer¶

A 3D information layer, containing data of type VoxelType stored in blocks.

This class contains functions for manipulating and accessing these blocks.

Public Types

enum BlockMergingStrategy¶

Values:

kProhibit¶

kReplace¶

kDiscard¶

kMerge¶

typedef std::shared_ptr<Layer> Ptr¶

typedef Block<VoxelType> BlockType¶

typedef AnyIndexHashMapType<typename BlockType::Ptr>::type BlockHashMap¶

typedef std::pair<BlockIndex, typename BlockType::Ptr> BlockMapPair¶

Public Functions

Layer(FloatingPoint voxel_size, size_t voxels_per_side)¶

Layer(const LayerProto &proto)¶: Create the layer from protobuf layer header.

Layer(const Layer &other)¶: Deep copy constructor.

virtual ~Layer()¶

const BlockType &getBlockByIndex(const BlockIndex &index) const¶

BlockType &getBlockByIndex(const BlockIndex &index)¶

BlockType::ConstPtr getBlockPtrByIndex(const BlockIndex &index) const¶

BlockType::Ptr getBlockPtrByIndex(const BlockIndex &index)¶

BlockType::Ptr allocateBlockPtrByIndex(const BlockIndex &index)¶: Gets a block by the block index it if already exists, otherwise allocates a new one.

BlockType::ConstPtr getBlockPtrByCoordinates(const Point &coords) const¶

BlockType::Ptr getBlockPtrByCoordinates(const Point &coords)¶

BlockType::Ptr allocateBlockPtrByCoordinates(const Point &coords)¶: Gets a block by the coordinates it if already exists, otherwise allocates a new one.

BlockIndex computeBlockIndexFromCoordinates(const Point &coords) const¶: IMPORTANT NOTE: Due the limited accuracy of the FloatingPoint type, this function doesn’t always compute the correct block index for coordinates near the block boundaries.

BlockType::Ptr allocateNewBlock(const BlockIndex &index)¶

BlockType::Ptr allocateNewBlockByCoordinates(const Point &coords)¶

void insertBlock(const std::pair<const BlockIndex, typename Block<VoxelType>::Ptr> &block_pair)¶

void removeBlock(const BlockIndex &index)¶

void removeAllBlocks()¶

void removeBlockByCoordinates(const Point &coords)¶

void removeDistantBlocks(const Point &center, const double max_distance)¶

void getAllAllocatedBlocks(BlockIndexList *blocks) const¶

void getAllUpdatedBlocks(BlockIndexList *blocks) const¶

size_t getNumberOfAllocatedBlocks() const¶

bool hasBlock(const BlockIndex &block_index) const¶

const VoxelType *getVoxelPtrByGlobalIndex(const GlobalIndex &global_voxel_index) const¶: Get a pointer to the voxel if its corresponding block is allocated and a nullptr otherwise.

VoxelType *getVoxelPtrByGlobalIndex(const GlobalIndex &global_voxel_index)¶

const VoxelType *getVoxelPtrByCoordinates(const Point &coords) const¶

VoxelType *getVoxelPtrByCoordinates(const Point &coords)¶

FloatingPoint block_size() const¶

FloatingPoint block_size_inv() const¶

FloatingPoint voxel_size() const¶

FloatingPoint voxel_size_inv() const¶

size_t voxels_per_side() const¶

FloatingPoint voxels_per_side_inv() const¶

void getProto(LayerProto *proto) const¶

bool isCompatible(const LayerProto &layer_proto) const¶

bool isCompatible(const BlockProto &layer_proto) const¶

bool saveToFile(const std::string &file_path, bool clear_file = true) const¶

bool saveSubsetToFile(const std::string &file_path, BlockIndexList blocks_to_include, bool include_all_blocks, bool clear_file = true) const¶

bool saveBlocksToStream(bool include_all_blocks, BlockIndexList blocks_to_include, std::fstream *outfile_ptr) const¶

bool addBlockFromProto(const BlockProto &block_proto, BlockMergingStrategy strategy)¶

size_t getMemorySize() const¶

Protected Functions

std::string getType() const¶

Protected Attributes

FloatingPoint voxel_size_¶

size_t voxels_per_side_¶

FloatingPoint block_size_¶

FloatingPoint voxel_size_inv_¶

FloatingPoint block_size_inv_¶

FloatingPoint voxels_per_side_inv_¶

BlockHashMap block_map_¶