Function voxblox::getHierarchicalIndexAlongRay

Function Documentation

void voxblox::getHierarchicalIndexAlongRay(const Point &start, const Point &end, size_t voxels_per_side, FloatingPoint voxel_size, FloatingPoint truncation_distance, bool voxel_carving_enabled, HierarchicalIndexMap *hierarchical_idx_map)

Takes start and end in WORLD COORDINATES, does all pre-scaling and sorting into hierarhical index.