VirtualGrid.hpp

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/*
 * VirtualGrid.hpp
 *
 *  @date 17.09.19
 *  @author Pao
 */
 
#ifndef VIRTUALGRID_H
#define VIRTUALGRID_H
#include "BigGrid.hpp"
#include "lvr2/geometry/BoundingBox.hpp"
 
#include <memory>
#include <vector>
 
namespace lvr2
{
 
template <typename BaseVecT>
class VirtualGrid
{
  public:
    VirtualGrid(BoundingBox<BaseVecT>& bb,
                  size_t gridCellSize,
                  float voxelsize);
 
 
    virtual ~VirtualGrid();
 
    void calculateBoxes();
 
    void setBoundingBox(BoundingBox<BaseVecT> bb);
 
    std::shared_ptr<std::vector<BoundingBox<BaseVecT>>> getBoxes() { return std::make_shared<std::vector<BoundingBox<BaseVecT>>>(m_boxes); }
 
  private:
    void findInitialBox();
 
 
 
    void generateNeighbours();
 
    // BoundingBox of the input PointCloud
    BoundingBox<BaseVecT> m_pcbb;
 
    // initial Bounding Box, around the left corner of the PointCloud-BB
    BoundingBox<BaseVecT> m_initbox;
 
    // List of (smaller) BoundingBox (aka Chunks), which overlap the original PointCloud
    std::vector<BoundingBox<BaseVecT>> m_boxes;
 
    // size of the "virtual" GridCell aka ChunkSize
    size_t m_gridCellSize;
 
    // voxelsize to verify the cellsize/chunksize
    float m_voxelsize;
 
};
 
} // namespace lvr2
 
#include "lvr2/reconstruction/VirtualGrid.tcc"
 
#endif // VIRTUALGRID_H