Class MeshLayer¶

Defined in File mesh_layer.h

Class Documentation¶

class MeshLayer¶

A special type of layer just for containing the mesh.

Same general interface as a layer of blocks, but only contains a single thing, not a set of voxels.

Public Types

typedef std::shared_ptr<MeshLayer> Ptr¶

typedef std::shared_ptr<const MeshLayer> ConstPtr¶

typedef AnyIndexHashMapType<Mesh::Ptr>::type MeshMap¶

Public Functions

MeshLayer(FloatingPoint block_size)¶

virtual ~MeshLayer()¶

const Mesh &getMeshByIndex(const BlockIndex &index) const¶

Mesh &getMeshByIndex(const BlockIndex &index)¶

Mesh::ConstPtr getMeshPtrByIndex(const BlockIndex &index) const¶

Mesh::Ptr getMeshPtrByIndex(const BlockIndex &index)¶

Mesh::Ptr allocateMeshPtrByIndex(const BlockIndex &index)¶: Gets a mesh by the mesh index it if already exists, otherwise allocates a new one.

Mesh::ConstPtr getMeshPtrByCoordinates(const Point &coords) const¶

Mesh::Ptr getMeshPtrByCoordinates(const Point &coords)¶

Mesh::Ptr allocateMeshPtrByCoordinates(const Point &coords)¶: Gets a mesh by the coordinates it if already exists, otherwise allocates a new one.

BlockIndex computeBlockIndexFromCoordinates(const Point &coords) const¶: Coord to mesh index.

Mesh::Ptr allocateNewBlock(const BlockIndex &index)¶

Mesh::Ptr allocateNewBlockByCoordinates(const Point &coords)¶

void removeMesh(const BlockIndex &index)¶

void removeMeshByCoordinates(const Point &coords)¶

void clearDistantMesh(const Point &center, const double max_distance)¶

void getAllAllocatedMeshes(BlockIndexList *meshes) const¶

void getAllUpdatedMeshes(BlockIndexList *meshes) const¶

void getMesh(Mesh *combined_mesh) const¶

Get mesh from mesh layer.

NOTE: The triangles and vertices in this mesh are distinct, hence, this will not produce a connected mesh.

void voxblox::MeshLayer::getConnectedMesh(Mesh * connected_mesh, const FloatingPoint approximate_vertex_proximity_threshold = 1e-10) const

Get a connected mesh by merging close vertices and removing triangles with zero surface area.

If you only would like to connect vertices, make sure that the proximity threhsold <<< voxel size. If you would like to simplify the mesh, chose a threshold greater or near the voxel size until you reached the level of simpliciation desired.

size_t getNumberOfAllocatedMeshes() const¶

void clear()¶: Deletes ALL parts of the mesh.

FloatingPoint block_size() const¶

FloatingPoint block_size_inv() const¶