Template Function voxblox::utils::centerBlocksOfLayer

• Defined in File layer_utils.h

Function Documentation

template <typename VoxelType>
void voxblox::utils::centerBlocksOfLayer(Layer<VoxelType> *layer, Point *new_layer_origin)

This function will shift all the blocks such that the new grid origin will be close to the centroid of all allocated blocks.

The new_layer_origin is the origin of the new grid expressed in the old grids coordinate frame.