voxblox
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Table of Contents
Example Outputs
Expanding the Docs
How Does ESDF Generation Work?
Installation
Contributing to Voxblox
Performance
Running Voxblox
The Voxblox Node
Transformations in Voxblox
Using Voxblox for Planning
Library API
Class Hierarchy
File Hierarchy
Full API
Namespaces
Classes and Structs
Enums
Functions
Template Function voxblox::aligned_shared
Function voxblox::castRay
Function voxblox::colorMsgToVoxblox
Function voxblox::colorVoxbloxToMsg
Function voxblox::convertMeshLayerToMesh
Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelColorFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZRGB> *)
Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelIntensityFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZI> *)
Function voxblox::createConnectedMesh(const AlignedVector<Mesh::ConstPtr>&, Mesh *, const FloatingPoint)
Function voxblox::createConnectedMesh(const Mesh&, Mesh *, const FloatingPoint)
Function voxblox::createDistancePointcloudFromEsdfLayer
Function voxblox::createDistancePointcloudFromEsdfLayerSlice
Function voxblox::createDistancePointcloudFromTsdfLayer
Function voxblox::createDistancePointcloudFromTsdfLayerSlice
Function voxblox::createFreePointcloudFromEsdfLayer
Function voxblox::createIntensityPointcloudFromIntensityLayer
Template Function voxblox::createOccupancyBlocksFromLayer
Function voxblox::createOccupancyBlocksFromOccupancyLayer
Function voxblox::createOccupancyBlocksFromTsdfLayer
Function voxblox::createPointcloudFromTsdfLayer
Function voxblox::createSurfaceDistancePointcloudFromTsdfLayer
Function voxblox::createSurfacePointcloudFromTsdfLayer
Template Function voxblox::deserializeMsgToLayer(const voxblox_msgs::Layer&, Layer<VoxelType> *)
Template Function voxblox::deserializeMsgToLayer(const voxblox_msgs::Layer&, const MapDerializationAction&, Layer<VoxelType> *)
Template Function voxblox::evaluateLayerRmseAtPoses(const utils::VoxelEvaluationMode&, const Layer<VoxelType>&, const Layer<VoxelType>&, const std::vector<Transformation>&, std::vector<utils::VoxelEvaluationDetails> *, std::vector<std::pair<typename voxblox::Layer<VoxelType>::Ptr, typename voxblox::Layer<VoxelType>::Ptr>> *)
Template Function voxblox::evaluateLayerRmseAtPoses(const utils::VoxelEvaluationMode&, const Layer<VoxelType>&, const Layer<VoxelType>&, const std::vector<Eigen::Matrix<float, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<float, 4, 4>>>&, std::vector<utils::VoxelEvaluationDetails> *, std::vector<std::pair<typename voxblox::Layer<VoxelType>::Ptr, typename voxblox::Layer<VoxelType>::Ptr>> *)
Function voxblox::fillMarkerWithMesh
Function voxblox::fillPointcloudWithMesh
Function voxblox::generateVoxbloxMeshMsg
Function voxblox::getBlockAndVoxelIndexFromGlobalVoxelIndex
Function voxblox::getBlockIndexFromGlobalVoxelIndex
Template Function voxblox::getCenterPointFromGridIndex
Function voxblox::getEsdfIntegratorConfigFromRosParam
Function voxblox::getEsdfMapConfigFromRosParam
Function voxblox::getGlobalVoxelIndexFromBlockAndVoxelIndex
Template Function voxblox::getGridIndexFromOriginPoint
Template Function voxblox::getGridIndexFromPoint(const Point&, const FloatingPoint)
Template Function voxblox::getGridIndexFromPoint(const Point&)
Function voxblox::getHierarchicalIndexAlongRay
Function voxblox::getICPConfigFromRosParam
Function voxblox::getLocalFromGlobalVoxelIndex
Template Function voxblox::getOriginPointFromGridIndex
Template Function voxblox::getSurfaceDistanceAlongRay
Function voxblox::getTsdfIntegratorConfigFromRosParam
Function voxblox::getTsdfMapConfigFromRosParam
Function voxblox::getVertexColor
Template Function voxblox::getVoxelType
Function voxblox::getVoxelType< EsdfVoxel >
Function voxblox::getVoxelType< IntensityVoxel >
Function voxblox::getVoxelType< OccupancyVoxel >
Function voxblox::getVoxelType< TsdfVoxel >
Function voxblox::grayColorMap
Function voxblox::heightColorFromVertex
Template Function voxblox::io::convertLayerToMesh(const Layer<VoxelType>&, const MeshIntegratorConfig&, voxblox::Mesh *, const bool, const FloatingPoint)
Template Function voxblox::io::convertLayerToMesh(const Layer<VoxelType>&, voxblox::Mesh *, const bool, const FloatingPoint)
Template Function voxblox::io::convertVoxelGridToPointCloud(const Layer<VoxelType>&, const float, const float, voxblox::Mesh *)
Template Function voxblox::io::convertVoxelGridToPointCloud(const Layer<VoxelType>&, const float, voxblox::Mesh *)
Template Function voxblox::io::getColorFromVoxel(const VoxelType&, const float, const float, Color *)
Function voxblox::io::getColorFromVoxel(const TsdfVoxel&, const float, const float, Color *)
Function voxblox::io::getColorFromVoxel(const EsdfVoxel&, const float, const float, Color *)
Template Function voxblox::io::LoadBlocksFromFile(const std::string&, typename Layer<VoxelType>::BlockMergingStrategy, Layer<VoxelType> *)
Template Function voxblox::io::LoadBlocksFromFile(const std::string&, typename Layer<VoxelType>::BlockMergingStrategy, bool, Layer<VoxelType> *)
Template Function voxblox::io::LoadBlocksFromStream
Template Function voxblox::io::LoadLayer(const std::string&, typename Layer<VoxelType>::Ptr *)
Template Function voxblox::io::LoadLayer(const std::string&, const bool, typename Layer<VoxelType>::Ptr *)
Template Function voxblox::io::outputLayerAsPly
Template Function voxblox::io::SaveLayer
Template Function voxblox::io::SaveLayerSubset
Function voxblox::isPowerOfTwo
Function voxblox::lambertColorFromColorAndNormal
Function voxblox::lambertColorFromNormal
Function voxblox::lambertShading
Function voxblox::logOddsFromProbability
Template Function voxblox::mergeLayerAintoLayerB(const Layer<VoxelType>&, Layer<VoxelType> *)
Template Function voxblox::mergeLayerAintoLayerB(const Layer<VoxelType>&, const Transformation&, Layer<VoxelType> *, bool)
Template Function voxblox::mergeVoxelAIntoVoxelB(const VoxelType&, VoxelType *)
Function voxblox::mergeVoxelAIntoVoxelB(const TsdfVoxel&, TsdfVoxel *)
Function voxblox::mergeVoxelAIntoVoxelB(const EsdfVoxel&, EsdfVoxel *)
Function voxblox::mergeVoxelAIntoVoxelB(const OccupancyVoxel&, OccupancyVoxel *)
Template Function voxblox::naiveTransformLayer
Function voxblox::normalColorFromNormal
Function voxblox::outputMeshAsPly
Function voxblox::outputMeshLayerAsPly(const std::string&, const MeshLayer&)
Function voxblox::outputMeshLayerAsPly(const std::string&, const bool, const MeshLayer&)
Function voxblox::pointcloudToPclXYZ
Function voxblox::pointcloudToPclXYZI
Function voxblox::pointcloudToPclXYZRGB
Function voxblox::probabilityFromLogOdds
Function voxblox::rainbowColorMap
Function voxblox::randomColor
Function voxblox::recolorVoxbloxMeshMsgByIntensity
Template Function voxblox::resampleLayer
Template Function voxblox::serializeLayerAsMsg
Function voxblox::signum
Template Function voxblox::test::fillVoxelWithTestData(size_t, size_t, size_t, VoxelType *)
Function voxblox::test::fillVoxelWithTestData(size_t, size_t, size_t, TsdfVoxel *)
Function voxblox::test::fillVoxelWithTestData(size_t, size_t, size_t, EsdfVoxel *)
Function voxblox::test::fillVoxelWithTestData(size_t, size_t, size_t, OccupancyVoxel *)
Function voxblox::test::fillVoxelWithTestData(size_t, size_t, size_t, IntensityVoxel *)
Template Function voxblox::test::SetUpTestLayer(const IndexElement, const IndexElement, Layer<VoxelType> *)
Template Function voxblox::test::SetUpTestLayer(const IndexElement, Layer<VoxelType> *)
Function voxblox::toConnectedPCLPolygonMesh
Function voxblox::toPCLPolygonMesh
Function voxblox::toSimplifiedPCLPolygonMesh
Template Function voxblox::transformLayer
Function voxblox::transformPointcloud
Template Function voxblox::utils::centerBlocksOfLayer
Template Function voxblox::utils::clearSphereAroundPoint
Template Function voxblox::utils::computeMapBoundsFromLayer
Template Function voxblox::utils::computeVoxelError
Template Function voxblox::utils::evaluateLayersRmse(const Layer<VoxelType>&, const Layer<VoxelType>&, const VoxelEvaluationMode&, VoxelEvaluationDetails *, Layer<VoxelType> *)
Template Function voxblox::utils::evaluateLayersRmse(const Layer<VoxelType>&, const Layer<VoxelType>&)
Template Function voxblox::utils::fillSphereAroundPoint
Template Function voxblox::utils::getAndAllocateSphereAroundPoint
Template Function voxblox::utils::getColorIfValid(const VoxelType&, const FloatingPoint, Color *)
Function voxblox::utils::getColorIfValid(const TsdfVoxel&, const FloatingPoint, Color *)
Function voxblox::utils::getColorIfValid(const EsdfVoxel&, const FloatingPoint, Color *)
Template Function voxblox::utils::getSdfIfValid(const VoxelType&, const FloatingPoint, FloatingPoint *)
Function voxblox::utils::getSdfIfValid(const TsdfVoxel&, const FloatingPoint, FloatingPoint *)
Function voxblox::utils::getSdfIfValid(const EsdfVoxel&, const FloatingPoint, FloatingPoint *)
Template Function voxblox::utils::getSphereAroundPoint
Template Function voxblox::utils::getVoxelSdf(const VoxelType&)
Function voxblox::utils::getVoxelSdf(const TsdfVoxel&)
Function voxblox::utils::getVoxelSdf(const EsdfVoxel&)
Template Function voxblox::utils::isObservedVoxel(const VoxelType&)
Function voxblox::utils::isObservedVoxel(const TsdfVoxel&)
Function voxblox::utils::isObservedVoxel(const EsdfVoxel&)
Template Function voxblox::utils::isSameBlock
Template Function voxblox::utils::isSameLayer
Template Function voxblox::utils::isSameVoxel(const VoxelType&, const VoxelType&)
Function voxblox::utils::isSameVoxel(const TsdfVoxel&, const TsdfVoxel&)
Function voxblox::utils::isSameVoxel(const EsdfVoxel&, const EsdfVoxel&)
Function voxblox::utils::isSameVoxel(const OccupancyVoxel&, const OccupancyVoxel&)
Function voxblox::utils::readProtoMsgCountToStream
Function voxblox::utils::readProtoMsgFromStream
Template Function voxblox::utils::setVoxelSdf(const FloatingPoint, VoxelType *)
Function voxblox::utils::setVoxelSdf(const FloatingPoint, TsdfVoxel *)
Function voxblox::utils::setVoxelSdf(const FloatingPoint, EsdfVoxel *)
Template Function voxblox::utils::setVoxelWeight(const FloatingPoint, VoxelType *)
Function voxblox::utils::setVoxelWeight(const FloatingPoint, TsdfVoxel *)
Function voxblox::utils::setVoxelWeight(const FloatingPoint, EsdfVoxel *)
Function voxblox::utils::writeProtoMsgCountToStream
Function voxblox::utils::writeProtoMsgToStream
Function voxblox::visualizeDistanceIntensityEsdfVoxels
Function voxblox::visualizeDistanceIntensityEsdfVoxelsSlice
Function voxblox::visualizeDistanceIntensityTsdfVoxels
Function voxblox::visualizeDistanceIntensityTsdfVoxelsNearSurface
Function voxblox::visualizeDistanceIntensityTsdfVoxelsSlice
Function voxblox::visualizeFreeEsdfVoxels
Function voxblox::visualizeIntensityVoxels
Function voxblox::visualizeNearSurfaceTsdfVoxels
Function voxblox::visualizeOccupiedOccupancyVoxels
Function voxblox::visualizeOccupiedTsdfVoxels
Function voxblox::visualizeTsdfVoxels
Variables
Typedefs
Directories
Files
voxblox
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Template Function voxblox::io::convertVoxelGridToPointCloud(const Layer<VoxelType>&, const float, voxblox::Mesh *)
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Template Function voxblox::io::convertVoxelGridToPointCloud(const Layer<VoxelType>&, const float, voxblox::Mesh *)
¶
Function Documentation
¶
template
<
typename
VoxelType>
bool
voxblox::io
::
convertVoxelGridToPointCloud
(
const
Layer
<VoxelType> &
layer
,
const
float
sdf_color_range
, voxblox::
Mesh
*
point_cloud
)
¶
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