Function voxblox::getLocalFromGlobalVoxelIndex

Function Documentation

VoxelIndex voxblox::getLocalFromGlobalVoxelIndex(const GlobalIndex &global_voxel_idx, const int voxels_per_side)

Converts from a global voxel index to the index inside a block.

NOTE: assumes that voxels_per_side is a power of 2 and uses a bitwise and as a computationally cheap substitute for the modulus operator