Template Class Neighborhood¶
- Defined in File neighbor_tools.h
Inheritance Relationships¶
Base Type¶
public voxblox::NeighborhoodLookupTables
(Class NeighborhoodLookupTables)
Class Documentation¶
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template <Connectivity kConnectivity = Connectivity::kTwentySix>
classNeighborhood
: public voxblox::NeighborhoodLookupTables¶ Public Types
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typedef Eigen::Matrix<LongIndexElement, 3, kConnectivity>
IndexMatrix
¶
Public Static Functions
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static void
getFromGlobalIndex
(const GlobalIndex &global_index, IndexMatrix *neighbors)¶ Get the global index of all (6, 18, or 26) neighbors of the input index.
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static void
getFromBlockAndVoxelIndexAndDirection
(const BlockIndex &block_index, const VoxelIndex &voxel_index, const SignedIndex &direction, const size_t voxels_per_side, BlockIndex *neighbor_block_index, VoxelIndex *neighbor_voxel_index)¶ Get the block idx and local voxel index of a neighbor voxel.
The neighbor voxel is defined by providing a direction. The main purpose of this function is to solve the cross-block indexing that happens when looking up neighbors at the block boundaries.
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static void
getFromBlockAndVoxelIndex
(const BlockIndex &block_index, const VoxelIndex &voxel_index, const size_t voxels_per_side, AlignedVector<VoxelKey> *neighbors_ptr)¶ Get the hierarchical indices (block idx, local voxel index) for all neighbors (6, 18, or 26 neighborhood) of a hierarcical index.
This function solves the cross-block indexing that happens when looking up neighbors at the block boundary.
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static SignedIndex
getOffsetBetweenVoxels
(const BlockIndex &start_block_index, const VoxelIndex &start_voxel_index, const BlockIndex &end_block_index, const VoxelIndex &end_voxel_index, const size_t voxels_per_side)¶ Get the signed offset between the global indices of two voxels.
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typedef Eigen::Matrix<LongIndexElement, 3, kConnectivity>