gtsam_points::VoxelRaycaster Class Reference

Raycasting-based voxel traversal algorithm. The iterator traverses voxel coordinates intersected by the ray but excludes the end voxel. J. Amanatides and A. Woo, "A Fast Voxel Traversal Algorithm for Ray Tracing", Eurographics, 1987. More...

#include <voxel_raycaster.hpp>

Classes
class	Iterator
	Iterator for traversing voxel coordinates along the ray. More...

Public Member Functions
	VoxelRaycaster (const Eigen::Vector4d &start, const Eigen::Vector4d &end, double voxel_size)
	Constructor.
Iterator	begin () const
	Get the begin iterator. (begin() == start_coord)
Iterator	end () const
	Get the end iterator. (end() == end_coord)
const Eigen::Vector3i &	start_voxel () const
	Get the start voxel coordinate.
const Eigen::Vector3i &	end_voxel () const
	Get the end voxel coordinate.

Detailed Description

Raycasting-based voxel traversal algorithm. The iterator traverses voxel coordinates intersected by the ray but excludes the end voxel. J. Amanatides and A. Woo, "A Fast Voxel Traversal Algorithm for Ray Tracing", Eurographics, 1987.

gtsam_points::VoxelRaycaster ray(Eigen::Vector4d(10.0, 20.0, 30.0, 1.0), Eigen::Vector4d(5.0, 10.0, 15.0, 1.0), 1.0); std::vector<Eigen::Vector3i> voxels; for (auto itr = ray.begin(); itr != ray.end(); ++itr) { voxels.emplace_back(*itr); } voxels.emplace_back(ray.end_coord); // Include the end voxel if needed

Constructor & Destructor Documentation

VoxelRaycaster()

gtsam_points::VoxelRaycaster::VoxelRaycaster	(	const Eigen::Vector4d &	start,
		const Eigen::Vector4d &	end,
		double	voxel_size
	)

Constructor.

Parameters

start	Start point of the ray (homogeneous coordinates)
end	End point of the ray (homogeneous coordinates)
voxel_size	Size of each voxel

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/voxel_raycaster.hpp