Template Function voxblox::getSurfaceDistanceAlongRay

• Defined in File distance_utils.h

Function Documentation

template <typename VoxelType>
bool voxblox::getSurfaceDistanceAlongRay(const Layer<VoxelType> &layer, const Point &ray_origin, const Point &bearing_vector, FloatingPoint max_distance, Point *triangulated_pose)

Returns true if there is a valid distance (intersection with the surface), false otherwise (no known space, no surface boundary, etc.).

VoxelType must have a distance defined.