Template Function voxblox::io::outputLayerAsPly

Function Documentation

template <typename VoxelType>
bool voxblox::io::outputLayerAsPly(const Layer<VoxelType> &layer, const std::string &filename, PlyOutputTypes type, const float sdf_color_range = 0.3f, const float max_sdf_value_to_output = 0.3f)

Output the layer to ply file.

Depending on the ply output type, this either exports all voxel centers colored by th SDF values or extracts the ISO surface as mesh. The parameter sdf_color_range is used to color the points for modes that use an SDF-based point cloud coloring function.