public static int Tango3DR_extractPreallocatedVoxelGridSegment(
IntPtr context, ref GridIndex gridIndex, Int32 maxNumVoxels, SignedDistanceVoxel[] voxels)
{
return (int)Status.SUCCESS;
}
/// <summary>
/// Extract an array of <c>SignedDistanceVoxel</c> objects.
/// </summary>
/// <returns>
/// Returns Status.SUCCESS if the voxels are fully extracted and stared in the array. In this case, <c>numVoxels</c>
/// will say how many voxels are used, the rest of the array is untouched.
///
/// Returns Status.INVALID if the array length does not exactly equal the number of voxels in a single grid
/// index. By default, the number of voxels in a grid index is 16*16*16.
///
/// Returns Status.INVALID if some other error occurs.
/// </returns>
/// <param name="gridIndex">Grid index to extract.</param>
/// <param name="voxels">
/// On successful extraction this will get filled out with the signed distance voxels.
/// </param>
/// <param name="numVoxels">Number of voxels filled out.</param>
internal Status ExtractSignedDistanceVoxel(
GridIndex gridIndex, SignedDistanceVoxel[] voxels, out int numVoxels)
{
numVoxels = 0;
int result = API.Tango3DR_extractPreallocatedVoxelGridSegment(m_context, ref gridIndex, voxels.Length, voxels);
if (result == (int)Status.SUCCESS)
{
// This is the current default number of voxels per grid volume.
numVoxels = 16 * 16 * 16;
}
return (Status)result;
}
public static extern int Tango3DR_extractPreallocatedVoxelGridSegment(
IntPtr context, ref GridIndex gridIndex, Int32 maxNumVoxels, SignedDistanceVoxel[] voxels);