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simInsertVoxelsIntoOctree
Inserts voxels into an OC tree. Each voxel will store a color and a tag value
C++ synopsis
int simInsertVoxelsIntoOctree(int octreeHandle, int options, const double* pts, int ptCnt,
const unsigned char* color, const unsigned int* tag, void* reserved)
Arguments
- octreeHandle: handle of the OC tree
- options: bit-coded:
- bit0 set (1): specified points are relative to the OC tree reference frame, otherwise they are relative to the world reference frame
- bit1 set (2): the color array contains one RGB triple per point, and the tag array contains one value per point. Otherwise it the color array contains a single RGB triple, and the tag array contains a single value.
- pts: pointer to the voxel positions specified as x/y/z coordinates
- ptCnt: number of point coordinates contained in pts
- color: pointer to one or several RGB triplets, specifying the red, green and blue color components (0-255). Can be nullptr.
- tag: pointer to one or several uint32 values, which are user-defined values. Can be nullptr, and should be nullptr if color is nullptr.
- reserved: reserved for future extensions. Set to nullptr
Return
- -1 if operation was not successful, otherwise the total number of voxels in the OC tree
See also:
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