Function voxblox::createSurfacePointcloudFromTsdfLayer¶

Defined in File ptcloud_vis.h

Function Documentation¶

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

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

The RGB color is determined by the color of the TSDF voxel.