evoxel

Library for processing 3D point clouds.

The library is at an early stage of development.

Contributing

The library is developed at the TUM Chair of Geoinformatics and contributions are highly welcome.

lib.rs:

evoxel is a library for processing 3D voxel grids.

Overview

Data structure

For serializing a voxel grid, this data structure is used:

• voxel_grid_name (directory) or voxel_grid_name.evoxel (single file as tarball)
  • voxel_data.xyz (uncompressed) or voxel_data.parquet (compressed)
    • mandatory fields:
      • x [i64]: X index
      • y [i64]: Y index
      • z [i64]: Z index
  • info.json
    • mandatory fields:
      • frame_id [String]
      • resolution [f64]
    • optional fields:
      • start_time [i128]
      • stop_time [i128]
      • submap_index [i32]
  • ecoord.json
    • contains a transformation tree with validity durations
    • information: srid
    • purpose: translate and rotate the voxel grid without reading/writing the point data

Other projects

• parry3d_f64::transformation::voxelization
• octomap