#include <ChunkManager.hpp>

Inheritance diagram for lvr2::ChunkManager:

Public Types
using	FilterFunction = std::function< bool(MultiChannelMap::val_type, size_t)>

Public Types inherited from lvr2::ChunkHashGrid
using	io = Hdf5Build< hdf5features::ChunkIO >

using	val_type = boost::variant< MeshBufferPtr, PointBufferPtr >

Public Member Functions
void	buildChunks (MeshBufferPtr mesh, float maxChunkOverlap, std::string savePath, std::string layer=std::string("mesh"))
	buildChunks builds chunks from an original mesh More...

	ChunkManager (MeshBufferPtr meshes, float chunksize, float maxChunkOverlap, std::string savePath, std::string layer=std::string("mesh"), size_t cacheSize=200)
	ChunkManager creates chunks from an original mesh. More...

	ChunkManager (std::vector< MeshBufferPtr > meshes, float chunksize, float maxChunkOverlap, std::string savePath, std::vector< std::string > layers, size_t cacheSize=200)

	ChunkManager (std::string hdf5Path, size_t cacheSize=200, float chunkSize=10.0f)
	ChunkManager loads a ChunkManager from a given HDF5-file. More...

MeshBufferPtr	extractArea (const BoundingBox< BaseVector< float >> &area, std::string layer=std::string("mesh"))
	extractArea creates and returns MeshBufferPtr of merged chunks for given area. More...

void	extractArea (const BoundingBox< BaseVector< float > > &area, std::unordered_map< std::size_t, MeshBufferPtr > &chunks, std::string layer=std::string("mesh"))

MeshBufferPtr	extractArea (const BoundingBox< BaseVector< float >> &area, const std::map< std::string, FilterFunction > filter, std::string layer=std::string("mesh"))
	extractArea creates and returns MeshBufferPtr of merged chunks for given area after filtering the resulting mesh. More...

std::vector< std::string >	getChannelsFromMesh (std::string layer=std::string("mesh"))
	Get all existing channels from mesh. More...

BoundingBox< BaseVector< float > >	getGlobalBoundingBox ()
	getGlobalBoundingBox is a getter for the bounding box of the entire chunked model More...

void	loadAllChunks (std::string layer=std::string("mesh"))
	Loads all chunks into the ChunkHashGrid. DEBUG – Only used for testing, but might be useful for smaller meshes. More...

Public Member Functions inherited from lvr2::ChunkHashGrid
	ChunkHashGrid (std::string hdf5Path, size_t cacheSize, float chunkSize=10.0f)
	class to load chunks from an HDF5 file More...

	ChunkHashGrid (std::string hdf5Path, size_t cacheSize, BoundingBox< BaseVector< float >> boundingBox, float chunkSize)
	class to load chunks from an HDF5 file More...

const BoundingBox< BaseVector< float > > &	getBoundingBox () const

template<typename T >
boost::optional< T >	getChunk (std::string layer, int x, int y, int z)
	delivers the content of a chunk More...

const BaseVector< std::size_t > &	getChunkAmount () const

BaseVector< int >	getChunkMaxChunkIndex () const
	returns the maximum chunk ids More...

BaseVector< int >	getChunkMinChunkIndex () const
	returns the minimum chunk ids More...

float	getChunkSize () const

std::size_t	hashValue (int i, int j, int k) const
	Calculates the hash value for the given index triple. More...

bool	isChunkLoaded (std::string layer, size_t hashValue)
	indicates if wether or not a chunk is currently loaded in the local cache More...

bool	isChunkLoaded (std::string layer, int x, int y, int z)
	indicates if wether or not a chunk is currently loaded in the local cache More...

void	setBoundingBox (const BoundingBox< BaseVector< float >> boundingBox)
	sets the bounding box in this container and in persistend storage More...

template<typename T >
void	setChunk (std::string layer, int x, int y, int z, T data)
	sets a chunk of a given layer in hashgrid More...

template<typename T >
void	setGeometryChunk (std::string layer, int x, int y, int z, T data)
	sets a chunk of a given layer in hashgrid More...

Private Member Functions
template<typename T >
MultiChannelMap::val_type	applyChannelFilter (const std::vector< bool > &vertexFilter, const std::vector< bool > &faceFilter, const size_t numVertices, const size_t numFaces, const MeshBufferPtr meshBuffer, const MultiChannelMap::val_type &originalChannel) const
	applies given filter arrays to one channel More...

void	cutLargeFaces (std::shared_ptr< HalfEdgeMesh< BaseVector< float >>> halfEdgeMesh, float overlapRatio, std::shared_ptr< std::unordered_map< unsigned int, unsigned int >> splitVertices, std::shared_ptr< std::unordered_map< unsigned int, unsigned int >> splitFaces)
	cutLargeFaces cuts a face if it is too large More...

template<typename T >
ChannelPtr< T >	extractChannelOfArea (std::unordered_map< std::size_t, MeshBufferPtr > &chunks, std::string channelName, std::size_t staticVertexIndexOffset, std::size_t numVertices, std::size_t numFaces, std::vector< std::unordered_map< std::size_t, std::size_t >> &areaVertexIndices)
	reads and combines a channel of multiple chunks More...

BaseVector< int >	getCellCoordinates (const BaseVector< float > &vec) const
	find corresponding grid cell of given point More...

BaseVector< float >	getFaceCenter (std::shared_ptr< HalfEdgeMesh< BaseVector< float >>> mesh, const FaceHandle &handle) const
	getFaceCenter gets the center point for a given face More...

void	initBoundingBox (MeshBufferPtr mesh)
	initBoundingBox calculates a bounding box of the original mesh More...

Additional Inherited Members
Protected Member Functions inherited from lvr2::ChunkHashGrid
void	expandBoundingBox (const val_type &data)

template<typename T >
bool	loadChunk (std::string layer, int x, int y, int z)
	loads a chunk from persistent storage into cache More...

void	loadChunk (std::string layer, int x, int y, int z, const val_type &data)
	loads given chunk data into cache More...

void	rehashCache (const BaseVector< std::size_t > &oldChunkAmount, const BaseVector< std::size_t > &oldChunkIndexOffset)
	regenerates cache hash grid More...

void	setChunkSize (float chunkSize)
	sets chunk size in this container and in persistent storage More...

Protected Attributes inherited from lvr2::ChunkHashGrid
BoundingBox< BaseVector< float > >	m_boundingBox

Detailed Description

Definition at line 50 of file ChunkManager.hpp.

Member Typedef Documentation

◆ FilterFunction

using lvr2::ChunkManager::FilterFunction = std::function<bool(MultiChannelMap::val_type, size_t)>

Definition at line 53 of file ChunkManager.hpp.

Constructor & Destructor Documentation

◆ ChunkManager() [1/3]

lvr2::ChunkManager::ChunkManager	(	MeshBufferPtr	meshes,
		float	chunksize,
		float	maxChunkOverlap,
		std::string	savePath,
		std::string	layer = `std::string("mesh")`,
		size_t	cacheSize = `200`
	)

ChunkManager creates chunks from an original mesh.

Chunks the original model into chunks of given size. Every created chunk has the same length in height, width and depth.

Parameters

mesh	mesh to be chunked
chunksize	size of a chunk - unit depends on the given mesh
maxChunkOverlap	maximum allowed overlap between chunks relative to the chunk size. Larger triangles will be cut
savePath	JUST FOR TESTING - REMOVE LATER ON
cacheSize	maximum number of chunks loaded in the ChunkHashGrid

Definition at line 66 of file ChunkManager.cpp.

◆ ChunkManager() [2/3]

lvr2::ChunkManager::ChunkManager	(	std::vector< MeshBufferPtr >	meshes,
		float	chunksize,
		float	maxChunkOverlap,
		std::string	savePath,
		std::vector< std::string >	layers,
		size_t	cacheSize = `200`
	)

Definition at line 80 of file ChunkManager.cpp.

◆ ChunkManager() [3/3]

lvr2::ChunkManager::ChunkManager	(	std::string	hdf5Path,
		size_t	cacheSize = `200`,
		float	chunkSize = `10.0f`
	)

ChunkManager loads a ChunkManager from a given HDF5-file.

Creates a ChunkManager from an already chunked HDF5 file and allows loading individual chunks and combining them to partial meshes. Every loaded chunk has the same length in height, width and depth.

Parameters

hdf5Path	path to the HDF5 file, where chunks and additional information are stored
cacheSize	maximum number of chunks loaded in the ChunkHashGrid

Definition at line 110 of file ChunkManager.cpp.

Member Function Documentation

◆ applyChannelFilter()

template<typename T >

MultiChannelMap::val_type lvr2::ChunkManager::applyChannelFilter	(	const std::vector< bool > &	vertexFilter,
		const std::vector< bool > &	faceFilter,
		const size_t	numVertices,
		const size_t	numFaces,
		const MeshBufferPtr	meshBuffer,
		const MultiChannelMap::val_type &	originalChannel
	)		const

private

applies given filter arrays to one channel

Template Parameters

T	Type of channels contents

Parameters

vertexFilter	filter array for vertices
faceFilter	filter array for faces
numVertices	amount of vertices after filtering
numFaces	amount of faces after filtering
meshBuffer	original mesh
originalChannel	channel to filter

Returns: a new filtered channel

◆ buildChunks()

void lvr2::ChunkManager::buildChunks	(	MeshBufferPtr	mesh,
		float	maxChunkOverlap,
		std::string	savePath,
		std::string	layer = `std::string("mesh")`
	)

buildChunks builds chunks from an original mesh

Creates chunks from an original mesh and initializes the initial chunk structure

Parameters

mesh	mesh which is being chunked
maxChunkOverlap	maximum allowed overlap between chunks relative to the chunk size. Larger triangles will be cut
savePath	UST FOR TESTING - REMOVE LATER ON

Definition at line 652 of file ChunkManager.cpp.

◆ cutLargeFaces()

void lvr2::ChunkManager::cutLargeFaces	(	std::shared_ptr< HalfEdgeMesh< BaseVector< float >>>	halfEdgeMesh,
		float	overlapRatio,
		std::shared_ptr< std::unordered_map< unsigned int, unsigned int >>	splitVertices,
		std::shared_ptr< std::unordered_map< unsigned int, unsigned int >>	splitFaces
	)

private

cutLargeFaces cuts a face if it is too large

Checks whether or not a triangle is overlapping the chunk borders too much and cuts those faces. The resulting smaller faces will be added as additional vertices and faces to the chunk hat holds their center point.

Parameters

halfEdgeMesh	mesh that is being cut
overlapRatio	ration of maximum allowed overlap and the chunks side length
splitVertices	map from new vertex indices to old vertex indices for all faces that will be cut
splitFaces	map from new face indices to old face indices for all faces that will be cut

Definition at line 536 of file ChunkManager.cpp.

◆ extractArea() [1/3]

MeshBufferPtr lvr2::ChunkManager::extractArea	(	const BoundingBox< BaseVector< float >> &	area,
		std::string	layer = `std::string("mesh")`
	)

extractArea creates and returns MeshBufferPtr of merged chunks for given area.

Finds corresponding chunks for given area inside the grid and merges those chunks to a new mesh without duplicated vertices. The new mesh is returned as MeshBufferPtr.

Parameters

area

Returns: mesh of the given area

Definition at line 201 of file ChunkManager.cpp.

◆ extractArea() [2/3]

void lvr2::ChunkManager::extractArea	(	const BoundingBox< BaseVector< float > > &	area,
		std::unordered_map< std::size_t, MeshBufferPtr > &	chunks,
		std::string	layer = `std::string("mesh")`
	)

◆ extractArea() [3/3]

MeshBufferPtr lvr2::ChunkManager::extractArea	(	const BoundingBox< BaseVector< float >> &	area,
		const std::map< std::string, FilterFunction >	filter,
		std::string	layer = `std::string("mesh")`
	)

extractArea creates and returns MeshBufferPtr of merged chunks for given area after filtering the resulting mesh.

Finds corresponding chunks for given area inside the grid and merges those chunks to a new mesh without duplicated vertices. The new mesh is returned as MeshBufferPtr. After extracting the area, given filters are being applied to allow more precise quaries for use cases like robot navigation while minimizing network traffic.

example for a filter: std::map<std::string, lvr2::ChunkManager::FilterFunction> filter = {{"roughness", [](lvr2::MultiChannelMap::val_type channel, size_t index) { return channel.dataPtr<float>()[index] < 0.1; }}}; This filter will only use vertices that have a maximum roughness of 0,1. All Faces referencing the filtered vertices will be filtered too.

Parameters

area	bounding box of the area to request
filter	map of filters with channel names as keys and functions as values

Returns: mesh of the given area

Definition at line 409 of file ChunkManager.cpp.

◆ extractChannelOfArea()

template<typename T >

ChannelPtr<T> lvr2::ChunkManager::extractChannelOfArea	(	std::unordered_map< std::size_t, MeshBufferPtr > &	chunks,
		std::string	channelName,
		std::size_t	staticVertexIndexOffset,
		std::size_t	numVertices,
		std::size_t	numFaces,
		std::vector< std::unordered_map< std::size_t, std::size_t >> &	areaVertexIndices
	)

private

reads and combines a channel of multiple chunks

Parameters

chunks	list of chunks to combine
channelName	name of channel to extract
staticVertexIndexOffset	amount of duplicate vertices in the combined mesh
numVertices	amount of vertices in the combined mesh
numFaces	amount of faces in the combined mesh
areaVertexIndices	mapping from old vertex index to new vertex index per chunk

◆ getCellCoordinates()

BaseVector< int > lvr2::ChunkManager::getCellCoordinates ( const BaseVector< float > & vec ) const

private

find corresponding grid cell of given point

Parameters

vec	point of mesh to find cell id for

Returns: cell id returns the grid coordinates of a given point

Parameters

vec	point of which we want the grid coordinates

Returns: the grid coordinates as a BaseVector

Definition at line 743 of file ChunkManager.cpp.

◆ getChannelsFromMesh()

std::vector< std::string > lvr2::ChunkManager::getChannelsFromMesh ( std::string layer = std::string("mesh") )

Get all existing channels from mesh.

Returns: List of all channel names as vector

Definition at line 115 of file ChunkManager.cpp.

◆ getFaceCenter()

BaseVector< float > lvr2::ChunkManager::getFaceCenter	(	std::shared_ptr< HalfEdgeMesh< BaseVector< float >>>	mesh,
		const FaceHandle &	handle
	)		const

private

getFaceCenter gets the center point for a given face

Parameters

verticesChannel	channel of mesh that holds the vertices
facesChannel	channel of mesh that holds the faces
faceIndex	index of the requested face

Returns: center point of the given face

Definition at line 735 of file ChunkManager.cpp.

◆ getGlobalBoundingBox()

BoundingBox<BaseVector<float> > lvr2::ChunkManager::getGlobalBoundingBox ( )

inline

getGlobalBoundingBox is a getter for the bounding box of the entire chunked model

Returns: global bounding box of chunked model

Definition at line 101 of file ChunkManager.hpp.

◆ initBoundingBox()

void lvr2::ChunkManager::initBoundingBox ( MeshBufferPtr mesh )

private

initBoundingBox calculates a bounding box of the original mesh

This calculates the bounding box of the given model and saves it to m_boundingBox.

Parameters

mesh	mesh whose bounding box shall be calculated

Definition at line 525 of file ChunkManager.cpp.

◆ loadAllChunks()

void lvr2::ChunkManager::loadAllChunks ( std::string layer = std::string("mesh") )

Loads all chunks into the ChunkHashGrid. DEBUG – Only used for testing, but might be useful for smaller meshes.

Definition at line 759 of file ChunkManager.cpp.

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

Public Types

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ FilterFunction

Constructor & Destructor Documentation

◆ ChunkManager() [1/3]

◆ ChunkManager() [2/3]

◆ ChunkManager() [3/3]

Member Function Documentation

◆ applyChannelFilter()

◆ buildChunks()

◆ cutLargeFaces()

◆ extractArea() [1/3]

◆ extractArea() [2/3]

◆ extractArea() [3/3]

◆ extractChannelOfArea()

◆ getCellCoordinates()

◆ getChannelsFromMesh()

◆ getFaceCenter()

◆ getGlobalBoundingBox()

◆ initBoundingBox()

◆ loadAllChunks()