SpatialGrids provides 2D and 3D grid structures for working with point cloud data.
The current grids available are a 2D raster and a sparse voxel grid for working with 3D point cloud.
To create a 2D raster grid:
using SpatialGrids points = rand(3, 100000) * 20.0 raster = rasterize_points(points, 0.1)
Sparse Voxel Grid
To create a sparse voxel grid with voxel side length of 10 metres for arbitrary points:
using SpatialGrids points = rand(3, 100000) * 20.0 grid = SparseVoxelGrid(points, 10.0)
The created grid is an iteratable object that returns a
Voxel at each index.
Each voxel can be accessed directly with a
for loop or all voxels can be
collected into an array.
Likewise, the returned
Voxel is an iterable object that returns the point indices.
# Iterate through each voxel in grid for voxel in grid # Get each point index in voxel for idx in voxel # Do stuff with points[:,idx] end # Or, you may want all point indices in a voxel all_point_indices = collect(voxel) end