Template Function voxblox::io::convertLayerToMesh(const Layer<VoxelType>&, const MeshIntegratorConfig&, voxblox::Mesh *, const bool, const FloatingPoint)

Function Documentation

template <typename VoxelType>
bool voxblox::io::convertLayerToMesh(const Layer < VoxelType > & layer, const MeshIntegratorConfig & mesh_config, voxblox::Mesh * mesh, const bool connected_mesh = true, const FloatingPoint vertex_proximity_threshold = 1e-10)

Converts the layer to a mesh by extracting its ISO surface using marching cubes.

This function returns false if the mesh is empty. The mesh can either be extracted as a set of distinct triangles, or the function can try to connect all identical vertices to create a connected mesh.