Function voxblox::createSurfaceDistancePointcloudFromTsdfLayer¶

Defined in File ptcloud_vis.h

Function Documentation¶

void voxblox::createSurfaceDistancePointcloudFromTsdfLayer(const Layer<TsdfVoxel> &layer, double surface_distance, pcl::PointCloud<pcl::PointXYZI> *pointcloud)¶

Create a pointcloud based on the TSDF voxels near the surface.

The intensity is determined based on the distance to the surface.