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Perception Tool Kit (PTK) API Guide
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Map definition.
The PTK_Map structure serves to aggregate multiple PTK_Grid structures that describe the same real-world region using the same quantization of space. Each constituent PTK_Grid may have a different data type stored in it, but they are required to use identical coordinate systems. The cell indexing schemes are therefore identical as well. The advantage of using a PTK_Map container is that it provides a single, flexible handle for manipulating multiple PTK_Grids at once, simplifying function signatures for processing.
PTK_Map provides a system for optionally selecting which PTK_Grid members to populate as well as querying which are available, in order to detect configuration errors at runtime. The optional selection of PTK_Grids is done to improve memory performance, as in practice each PTK_Grid for a suitable region of space typically spans several MB.
Data Fields | |
PTK_MapConfig | config |
uint32_t | gridOffsets [PTK_MAP_MAX_NUM_GRIDS_PER_MAP] |
PTK_MapConfig PTK_Map::config |
Map configuration.
uint32_t PTK_Map::gridOffsets[PTK_MAP_MAX_NUM_GRIDS_PER_MAP] |