![]() |
Perception Tool Kit (PTK) API Guide
|
Grid configuration.
The configuration structure itself also requires information about the spatial organization of the grid and, if the PTK_GRID_TYPE_USER type is used, the size of the user data to store per cell. A 2D vs 3D grid is differentiated by the value for zCells, where a value of 1 indicates that the PTK_Grid will only be used with the 2D API, while a value > 1 indicates that the PTK_Grid will only be used with the 3D API.
PTK_Grid structures are configured once based on their dimension and the type of data they store. After allocation and initialization, the type of data stored within a PTK_Grid cannot be modified safely.
The configuration structure itself also requires information about the spatial organization of the grid and, if the PTK_GRID_TYPE_USER type is used, the size of the user data to store per cell. A 2D vs 3D grid is differentiated by the value for zCells, where a value of 1 indicates that the PTK_Grid will only be used with the 2D API, while a value > 1 indicates that the PTK_Grid will only be used with the 3D API.

Data Fields | |
| PTK_GridType | type |
| uint32_t | xCells |
| uint32_t | yCells |
| uint32_t | zCells |
| float | xCellSize |
| float | yCellSize |
| float | zCellSize |
| float | xMin |
| float | yMin |
| float | zMin |
| uint32_t | dataSize |
| PTK_GridType PTK_GridConfig::type |
The type of grid to allocate, based on the above constants.
| uint32_t PTK_GridConfig::xCells |
Number of cells along the x axis.
| uint32_t PTK_GridConfig::yCells |
Number of cells along the y axis.
| uint32_t PTK_GridConfig::zCells |
Number of cells along the z axis. If the z axis is not used, set this to 1.
| float PTK_GridConfig::xCellSize |
Dimension of a cell along x in meters.
| float PTK_GridConfig::yCellSize |
Dimension of a cell along y in meters.
| float PTK_GridConfig::zCellSize |
Dimension of a cell along z in meters. If the z axis is not used, any nonzero value is valid.
| float PTK_GridConfig::xMin |
Real x coordinate for start of cell 0.
| float PTK_GridConfig::yMin |
Real y coordinate for start of cell 0.
| float PTK_GridConfig::zMin |
Real z coordinate for start of cell 0. If the z axis is not used, any value is valid.
| uint32_t PTK_GridConfig::dataSize |
Size of memory required to hold a value for a cell if PTK_GRID_TYPE_USER is specified for type. Otherwise, ignored.