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Perception Tool Kit (PTK) API Guide
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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.