### Install Documentation Dependencies

Source: https://voxblox.readthedocs.io/en/latest/pages/Expanding-the-Docs.html

Install the required system and Python packages to build the documentation locally.

```bash
sudo apt-get install python-pip doxygen python-pyaudio
pip install sphinx exhale breath sphinx_rtd_theme recommonmark --user
```

--------------------------------

### Install System Dependencies

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Installs necessary system packages for voxblox. Ensure you replace 'kinetic' with your ROS version (indigo, kinetic, or melodic).

```bash
sudo apt-get install python-wstool python-catkin-tools ros-kinetic-cmake-modules protobuf-compiler autoconf

```

--------------------------------

### Test Layer Setup

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Template functions to set up a test layer with specified dimensions.

```APIDOC
## Template Function voxblox::test::SetUpTestLayer

### Description
Sets up a test layer with specified dimensions.

### Parameters
- **min_idx** (const IndexElement) - The minimum index for the layer.
- **max_idx** (const IndexElement) - The maximum index for the layer.
- **layer** (Layer<VoxelType> *) - Pointer to the layer to set up.
```

```APIDOC
## Template Function voxblox::test::SetUpTestLayer

### Description
Sets up a test layer with specified dimensions.

### Parameters
- **max_idx** (const IndexElement) - The maximum index for the layer.
- **layer** (Layer<VoxelType> *) - Pointer to the layer to set up.
```

--------------------------------

### Setup linter for Voxblox

Source: https://voxblox.readthedocs.io/en/latest/pages/Modifying-and-Contributing.html

Commands to clone the linter repository and initialize git hooks for style checking.

```bash
cd ~/catkin_ws/src/
git clone git@github.com:ethz-asl/linter.git
cd linter
echo ". $(realpath setup_linter.sh)" >> ~/.bashrc  # Or the matching file for
                                                   # your shell.
bash

# Initialize linter in voxblox repo
cd ~/catkin_ws/src/voxblox
init_linter_git_hooks
```

--------------------------------

### Compile Documentation Locally

Source: https://voxblox.readthedocs.io/en/latest/pages/Expanding-the-Docs.html

Navigate to the documentation directory and execute the make command to generate HTML files.

```bash
cd ~/catkin_ws/src/voxblox/voxblox/docs
make html
```

--------------------------------

### Initialize Catkin Workspace

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Sets up a new catkin workspace, extends it with ROS, and configures build settings for a release build.

```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel

```

--------------------------------

### Run Voxblox with Basement Dataset

Source: https://voxblox.readthedocs.io/en/latest/pages/Running-Voxblox.html

Launches Voxblox using the 'basement_dataset.launch' file for datasets without ground truth, demonstrating Velodyne lidar data and ICP corrections. Edit the path to the bagfile in the launch file prior to running.

```bash
roslaunch voxblox_ros basement_dataset.launch
```

--------------------------------

### Run Voxblox with Cow and Lady Dataset

Source: https://voxblox.readthedocs.io/en/latest/pages/Running-Voxblox.html

Launches Voxblox using the 'cow_and_lady_dataset.launch' file. Ensure the path to the bagfile is correctly edited within the launch file before execution.

```bash
roslaunch voxblox_ros cow_and_lady_dataset.launch
```

--------------------------------

### Merge wstool Configuration

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Use this command to merge wstool configuration if you have already initialized wstool in your workspace.

```bash
wstool merge -t

```

--------------------------------

### Clone voxblox with SSH

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Clones the voxblox repository using SSH keys and initializes/updates wstool for dependency management. Recommended for SSH users.

```bash
cd ~/catkin_ws/src/
git clone git@github.com:ethz-asl/voxblox.git
wstool init . ./voxblox/voxblox_ssh.rosinstall
wstool update

```

--------------------------------

### Utility and Helper Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Miscellaneous functions for index manipulation, color retrieval, and configuration loading from ROS parameters.

```APIDOC
## Template Function voxblox::aligned_shared

### Description
Provides aligned shared pointer functionality.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::castRay

### Description
Casts a ray, likely for intersection testing or traversal.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getBlockAndVoxelIndexFromGlobalVoxelIndex

### Description
Calculates the block and voxel indices from a global voxel index.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getBlockIndexFromGlobalVoxelIndex

### Description
Calculates the block index from a global voxel index.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getCenterPointFromGridIndex

### Description
Calculates the center point of a grid index.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getEsdfIntegratorConfigFromRosParam

### Description
Retrieves ESDF integrator configuration from ROS parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getEsdfMapConfigFromRosParam

### Description
Retrieves ESDF map configuration from ROS parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getGlobalVoxelIndexFromBlockAndVoxelIndex

### Description
Calculates the global voxel index from block and voxel indices.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getGridIndexFromOriginPoint

### Description
Calculates the grid index from an origin point.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getGridIndexFromPoint(const Point&, const FloatingPoint)

### Description
Calculates the grid index from a point and a floating-point value.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getGridIndexFromPoint(const Point&)

### Description
Calculates the grid index from a point.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getHierarchicalIndexAlongRay

### Description
Calculates a hierarchical index along a ray.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getICPConfigFromRosParam

### Description
Retrieves ICP configuration from ROS parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getLocalFromGlobalVoxelIndex

### Description
Converts a global voxel index to a local voxel index.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getOriginPointFromGridIndex

### Description
Calculates the origin point of a grid index.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::getSurfaceDistanceAlongRay

### Description
Calculates the surface distance along a ray.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getTsdfIntegratorConfigFromRosParam

### Description
Retrieves TSDF integrator configuration from ROS parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getTsdfMapConfigFromRosParam

### Description
Retrieves TSDF map configuration from ROS parameters.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::getVertexColor

### Description
Retrieves the color of a vertex.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

--------------------------------

### Clone voxblox with HTTPS

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Clones the voxblox repository using HTTPS and initializes/updates wstool for dependency management. Use if not using SSH keys.

```bash
cd ~/catkin_ws/src/
git clone https://github.com/ethz-asl/voxblox.git
wstool init . ./voxblox/voxblox_https.rosinstall
wstool update

```

--------------------------------

### Output Parameters

Source: https://voxblox.readthedocs.io/en/latest/pages/The-Voxblox-Node.html

Configuration settings for mesh generation, map publishing, and visualization outputs.

```APIDOC
## Output Parameters

### Description
Parameters controlling how generated meshes, maps, and pointclouds are published or saved.

### Parameters
- **output_mesh_as_pointcloud** (bool) - Output mesh vertices as pointcloud.
- **output_mesh_as_pcl_mesh** (bool) - Output mesh as pcl::PolygonMesh.
- **slice_level** (float) - Height for TSDF/ESDF slices.
- **color_ptcloud_by_weight** (bool) - Color pointcloud by voxel weight.
- **mesh_filename** (string) - Filename for saved mesh.
- **color_mode** (string) - Coloring method (color, height, normals, lambert, gray).
- **mesh_min_weight** (float) - Minimum weight for mesh inclusion.
- **update_mesh_every_n_sec** (float) - Rate for mesh topic publishing.
- **publish_tsdf_map** (bool) - Periodically publish TSDF map.
- **publish_esdf_map** (bool) - Periodically publish ESDF map.
- **publish_tsdf_info** (bool) - Enable publishing of TSDF info topics.
- **intensity_colormap** (string) - Colormap for intensity pointclouds.
- **intensity_max_value** (float) - Max value for intensity mapping.
- **publish_traversable** (bool) - Display traversability pointcloud.
- **traversability_radius** (float) - Minimum radius for traversability.
```

--------------------------------

### Input Transform Parameters

Source: https://voxblox.readthedocs.io/en/latest/pages/The-Voxblox-Node.html

Configuration settings for handling sensor and world frame transformations.

```APIDOC
## Input Transform Parameters

### Description
Parameters defining how sensor poses are determined relative to the world frame.

### Parameters
- **use_tf_transforms** (bool) - Whether to use ROS TF tree for sensor poses.
- **world_frame** (string) - Base frame for TF lookups.
- **sensor_frame** (string) - Sensor frame for TF lookups.
- **T_B_D** (transform) - Static transformation from base to dynamic system.
- **invert_T_B_D** (bool) - Whether to invert T_B_D.
- **T_B_C** (transform) - Static transformation from base to sensor.
- **invert_T_B_C** (bool) - Whether to invert T_B_C.
```

--------------------------------

### ROS Integration Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files for ROS integration, including conversions and servers.

```APIDOC
## ROS Integration Files

### Description
Header files for ROS integration, including conversions and servers.

### Files
- `conversions.h`: Utilities for converting between ROS message types and Voxblox structures.
- `conversions_inl.h`: Inline implementations for conversion functions.
- `esdf_server.h`: ROS server for ESDF map generation and visualization.
- `intensity_server.h`: ROS server for intensity map generation and visualization.
- `intensity_vis.h`: Utilities for visualizing intensity data in ROS.
- `interactive_slider.h`: Utilities for interactive sliders in ROS.
```

--------------------------------

### Compile voxblox ROS packages

Source: https://voxblox.readthedocs.io/en/latest/pages/Installation.html

Builds the voxblox_ros package within your catkin workspace. Ensure you are in the src directory of your workspace.

```bash
cd ~/catkin_ws/src/
catkin build voxblox_ros

```

--------------------------------

### Class Documentation

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Reference documentation for various classes within the Voxblox library.

```APIDOC
## Class Documentation

This section details the available classes in the Voxblox library.

### Classes

- **DummyTimer**: Provides dummy timer functionality.
- **Timer**: Represents a timer for measuring execution time.
- **Timing**: Utility for timing operations.
- **Transformer**: Handles coordinate transformations.
- **TsdfIntegratorBase**: Base class for TSDF (Truncated Signed Distance Function) integrators.
  - **Nested Relationships**: Includes nested types.
  - **Inheritance Relationships**: Has derived types.
- **TsdfIntegratorFactory**: Factory class for creating TSDF integrators.
- **TsdfMap**: Represents the TSDF map data structure.
  - **Nested Relationships**: Includes nested types.
- **TsdfServer**: Server class for managing the TSDF map.
  - **Inheritance Relationships**: Has derived types.
- **VoxbloxMeshDisplay**: Class for displaying Voxblox meshes.
  - **Inheritance Relationships**: Has a base type.
- **VoxbloxMeshVisual**: Visual component for Voxblox meshes.
```

--------------------------------

### File Hierarchy

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Overview of the file structure within the voxblox library.

```APIDOC
## File Hierarchy

  * File approx_hash_array.h
  * File block.h
  * File block_hash.h
  * File block_inl.h
  * File bucket_queue.h
  * File camera_model.h
  * File color.h
  * File color_maps.h
  * File common.h
  * File conversions.h
  * File conversions_inl.h
  * File distance_utils.h
  * File esdf_integrator.h
  * File esdf_map.h
  * File esdf_occ_integrator.h
  * File esdf_server.h
  * File evaluation_utils.h
  * File icp.h
  * File integrator_utils.h
  * File intensity_integrator.h
  * File intensity_server.h
  * File intensity_vis.h
  * File interactive_slider.h
  * File interpolator.h
  * File interpolator_inl.h
  * File layer.h
  * File layer_inl.h
  * File layer_io.h
  * File layer_io_inl.h
  * File layer_test_utils.h
  * File layer_utils.h
  * File marching_cubes.h
  * File merge_integration.h
  * File mesh.h
  * File mesh_integrator.h
  * File mesh_layer.h
  * File mesh_pcl.h
  * File mesh_ply.h
  * File mesh_utils.h
  * File mesh_vis.h
  * File meshing_utils.h
  * File neighbor_tools.h
  * File objects.h
  * File occupancy_integrator.h
  * File occupancy_map.h
  * File planning_utils.h
  * File planning_utils_inl.h
  * File ply_writer.h
  * File protobuf_utils.h
  * File ptcloud_vis.h
  * File ros_params.h
  * File sdf_ply.h
  * File simulation_server.h
  * File simulation_world.h
  * File simulation_world_inl.h
  * File timing.h
  * File transformer.h
  * File tsdf_integrator.h
  * File tsdf_map.h
  * File tsdf_server.h
  * File voxblox_mesh_display.h
  * File voxblox_mesh_visual.h
  * File voxel.h
  * File voxel_utils.h
```

--------------------------------

### Utility Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files containing various utility functions and data structures.

```APIDOC
## Utility Files

### Description
Header files containing various utility functions and data structures.

### Files
- `approx_hash_array.h`: Utilities for approximate hashing.
- `bucket_queue.h`: Implementation of a bucket queue.
- `camera_model.h`: Utilities for camera models.
- `color_maps.h`: Utilities for color mapping.
- `distance_utils.h`: Utility functions for distance calculations.
- `evaluation_utils.h`: Utilities for evaluation metrics.
```

--------------------------------

### Namespace Structure

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Overview of the namespaces within the Voxblox library.

```APIDOC
## Namespaces

This section details the namespaces available in the Voxblox library.

### Namespace `voxblox`

This is the main namespace for the Voxblox library. It contains:

*   Detailed Description
*   Namespaces
*   Classes
*   Enums
*   Functions
*   Typedefs
*   Variables

### Namespace `voxblox::io`

This namespace is related to input/output operations within Voxblox. It contains:

*   Classes
*   Enums
*   Functions

### Namespace `voxblox::test`

This namespace is used for testing purposes within Voxblox. It contains:

*   Classes
*   Functions

### Namespace `voxblox::timing`

This namespace deals with timing-related functionalities in Voxblox. It contains:

*   Classes
*   Typedefs

### Namespace `voxblox::utils`

This namespace provides utility functions and classes for Voxblox. It contains:

*   Classes
*   Enums
*   Functions

### Namespace `voxblox::voxel_types`

This namespace defines various voxel types used in Voxblox. It contains:

*   Variables

### Namespace `voxblox_rviz_plugin`

This namespace is associated with the RViz plugin for Voxblox. It contains:

*   Classes
```

--------------------------------

### Enum Documentation

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Reference documentation for various enums within the Voxblox library.

```APIDOC
## Enum Documentation

This section details the available enums in the Voxblox library.

### Enums

- **ColorMode**: Defines different modes for color representation.
- **Connectivity**: Specifies connectivity types for voxels.
- **PlyOutputTypes**: Enumerates output types for PLY file format.
- **MapDerializationAction**: Defines actions for map deserialization.
- **TsdfIntegratorType**: Specifies the type of TSDF integrator to use.
- **VoxelEvaluationMode**: Defines modes for voxel evaluation.
- **VoxelEvaluationResult**: Represents the result of a voxel evaluation.
```

--------------------------------

### ICP Refinement Parameters

Source: https://voxblox.readthedocs.io/en/latest/pages/The-Voxblox-Node.html

Configuration settings for applying Iterative Closest Point (ICP) refinement to input pointclouds.

```APIDOC
## ICP Refinement Parameters

### Description
Parameters used to configure ICP-based refinement for aligning incoming pointclouds to the existing structure.

### Parameters
- **enable_icp** (bool) - Whether to use ICP to align incoming pointclouds.
- **icp_refine_roll_pitch** (bool) - True for 6-dof pose correction, false for 4-dof.
- **accumulate_icp_corrections** (bool) - Whether to accumulate transform corrections over all pointclouds.
- **icp_corrected_frame** (string) - TF frame to output ICP corrections.
- **pose_corrected_frame** (string) - TF frame for outputting corrected poses.
- **icp_mini_batch_size** (int) - Number of points per batch for matching.
- **icp_subsample_keep_ratio** (float) - Ratio for random subsampling.
- **icp_min_match_ratio** (float) - Minimum ratio of points within truncation distance for acceptance.
- **icp_inital_translation_weighting** (float) - Confidence weighting for initial translation.
- **icp_inital_rotation_weighting** (float) - Confidence weighting for initial rotation.
```

--------------------------------

### Implement block serialization for custom voxels

Source: https://voxblox.readthedocs.io/en/latest/pages/Modifying-and-Contributing.html

Template specializations for DeserializeVoxelData and SerializeVoxelData to handle custom voxel serialization.

```cpp
namespace voxblox {

template <>
void Block<YOUR_FANCY_VOXEL>::DeserializeVoxelData(const BlockProto& proto,
                                            YOUR_FANCY_VOXEL* voxels) {
// Your serialization code.
}

template <>
void Block<YOUR_FANCY_VOXEL>::SerializeVoxelData(const YOUR_FANCY_VOXEL* voxels,
                                          BlockProto* proto) const {
// Your serialization code.
}

}  // namespace voxblox
```

--------------------------------

### Integrator Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files for different types of integrators used in Voxblox.

```APIDOC
## Integrator Files

### Description
Header files for different types of integrators used in Voxblox.

### Files
- `esdf_integrator.h`: Defines the `EsdfIntegrator` for Signed Distance Fields.
- `esdf_occ_integrator.h`: Defines the `EsdfOccIntegrator` for occupancy-based ESDF.
- `integrator_utils.h`: Utility functions for integrators.
- `intensity_integrator.h`: Defines the `IntensityIntegrator` for intensity-based mapping.
```

--------------------------------

### Core Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files related to the core data structures and functionalities of Voxblox.

```APIDOC
## Core Files

### Description
Header files related to the core data structures and functionalities of Voxblox.

### Files
- `block.h`: Defines the `Block` structure for voxel grid storage.
- `block_hash.h`: Provides hashing mechanisms for blocks.
- `block_inl.h`: Inline implementations for block-related functions.
- `color.h`: Defines color structures and utilities.
- `common.h`: Common definitions and utility functions used throughout the library.
```

--------------------------------

### Interpolator Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files for interpolator functionalities in Voxblox.

```APIDOC
## Interpolator Files

### Description
Header files for interpolator functionalities in Voxblox.

### Files
- `interpolator.h`: Defines the base `Interpolator` class.
- `interpolator_inl.h`: Inline implementations for interpolator functions.
```

--------------------------------

### Class Hierarchy

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Overview of the class hierarchy within the voxblox library, organized by namespaces.

```APIDOC
## Class Hierarchy

### Namespace voxblox
  * Namespace voxblox::io
    * Class PlyWriter
    * Enum PlyOutputTypes
  * Namespace voxblox::test
    * Template Class LayerTest
  * Namespace voxblox::timing
    * Struct TimerMapValue
    * Template Class Accumulator
    * Class DummyTimer
    * Class Timer
    * Class Timing
  * Namespace voxblox::utils
    * Enum VoxelEvaluationMode
    * Enum VoxelEvaluationResult
    * Struct VoxelEvaluationDetails
  * Struct AnyIndexHash
  * Template Struct AnyIndexHashMapType
  * Struct Color
  * Struct EsdfVoxel
  * Struct IntensityVoxel
  * Struct LongIndexHash
  * Template Struct LongIndexHashMapType
  * Struct Mesh
  * Struct MeshIntegratorConfig
  * Struct OccupancyVoxel
  * Struct TsdfVoxel
  * Template Class ApproxHashArray
  * Template Class ApproxHashSet
  * Template Class Block
  * Template Class BucketQueue
  * Class CameraModel
  * Class ColorMap
  * Class Cube
  * Class Cylinder
  * Class EsdfIntegrator
    * Struct EsdfIntegrator::Config
  * Class EsdfMap
    * Struct EsdfMap::Config
  * Class EsdfOccIntegrator
    * Struct EsdfOccIntegrator::Config
  * Class EsdfServer
  * Class FastTsdfIntegrator
  * Class GrayscaleColorMap
  * Class ICP
    * Struct ICP::Config
  * Class IntensityIntegrator
  * Class IntensityServer
  * Class InteractiveSlider
  * Template Class Interpolator
  * Class InverseGrayscaleColorMap
  * Class InverseRainbowColorMap
  * Class IronbowColorMap
  * Template Class Layer
  * Class MarchingCubes
  * Class MergedTsdfIntegrator
  * Template Class MeshIntegrator
  * Class MeshLayer
  * Template Class Neighborhood
  * Class NeighborhoodLookupTables
  * Class Object
  * Class OccupancyIntegrator
    * Struct OccupancyIntegrator::Config
  * Class OccupancyMap
    * Struct OccupancyMap::Config
  * Class Plane
  * Class PlaneObject
  * Class RainbowColorMap
  * Class RayCaster
  * Class SimpleTsdfIntegrator
  * Class SimulationServer
  * Class SimulationWorld
  * Class Sphere
  * Class ThreadSafeIndex
  * Class Transformer
  * Class TsdfIntegratorBase
    * Struct TsdfIntegratorBase::Config
  * Class TsdfIntegratorFactory
  * Class TsdfMap
    * Struct TsdfMap::Config
  * Class TsdfServer
  * Enum ColorMode
  * Enum Connectivity
  * Enum MapDerializationAction
  * Enum TsdfIntegratorType

### Namespace voxblox_rviz_plugin
  * Class VoxbloxMeshDisplay
  * Class VoxbloxMeshVisual
```

--------------------------------

### Alignment Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files related to alignment algorithms.

```APIDOC
## Alignment Files

### Description
Header files related to alignment algorithms.

### Files
- `icp.h`: Implementation of the Iterative Closest Point (ICP) algorithm.
```

--------------------------------

### Voxblox IO Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Functions for loading, saving, and converting layers and meshes.

```APIDOC
## voxblox::io::LoadLayer

### Description
Loads a layer from a file.

### Parameters
#### Path Parameters
- **file_path** (std::string) - Required - Path to the file
- **layer_ptr** (Layer<VoxelType>::Ptr *) - Required - Pointer to the layer object to populate

## voxblox::io::SaveLayer

### Description
Saves a layer to a file.

### Parameters
#### Path Parameters
- **file_path** (std::string) - Required - Path to save the file
- **layer** (Layer<VoxelType>) - Required - The layer to save
```

--------------------------------

### ROS Services for Voxblox Servers

Source: https://voxblox.readthedocs.io/en/latest/pages/The-Voxblox-Node.html

Services provided by tsdf_server and esdf_server to manage map generation, saving, loading, and publishing.

```APIDOC
## POST /generate_mesh

### Description
Triggers the generation of a new mesh from the current TSDF map.

### Method
POST

### Endpoint
generate_mesh

## POST /generate_esdf

### Description
Triggers an update of the ESDF map.

### Method
POST

### Endpoint
generate_esdf

## POST /save_map

### Description
Saves the current TSDF layer to a .vxblx file.

### Method
POST

### Endpoint
save_map

### Request Body
- **file_path** (voxblox_msgs::FilePath) - Required - Path to save the .vxblx file

## POST /load_map

### Description
Loads a TSDF layer from a .vxblx file.

### Method
POST

### Endpoint
load_map

### Request Body
- **file_path** (voxblox_msgs::FilePath) - Required - Path to the .vxblx file to load

## POST /publish_map

### Description
Publishes the current TSDF and ESDF layers to their respective output topics.

### Method
POST

### Endpoint
publish_map

## POST /publish_pointclouds

### Description
Publishes TSDF and ESDF pointclouds and slices.

### Method
POST

### Endpoint
publish_pointclouds
```

--------------------------------

### Map Files

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Header files related to map structures.

```APIDOC
## Map Files

### Description
Header files related to map structures.

### Files
- `esdf_map.h`: Defines the `EsdfMap` structure for storing ESDF data.
```

--------------------------------

### Voxblox Visualization Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

This section lists functions used for visualizing different types of voxels within the Voxblox library.

```APIDOC
## Voxblox Visualization Functions

### Description
Provides functions to visualize various voxel types and their properties within the Voxblox library.

### Functions
- `voxblox::visualizeDistanceIntensityEsdfVoxels()`
- `voxblox::visualizeDistanceIntensityEsdfVoxelsSlice()`
- `voxblox::visualizeDistanceIntensityTsdfVoxels()`
- `voxblox::visualizeDistanceIntensityTsdfVoxelsNearSurface()`
- `voxblox::visualizeDistanceIntensityTsdfVoxelsSlice()`
- `voxblox::visualizeFreeEsdfVoxels()`
- `voxblox::visualizeIntensityVoxels()`
- `voxblox::visualizeNearSurfaceTsdfVoxels()`
- `voxblox::visualizeOccupiedOccupancyVoxels()`
- `voxblox::visualizeOccupiedTsdfVoxels()`
- `voxblox::visualizeTsdfVoxels()`
```

--------------------------------

### Mesh and Point Cloud Generation Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Functions for generating meshes and point clouds from Voxblox layers, including connected meshes and distance-based point clouds.

```APIDOC
## Function voxblox::convertMeshLayerToMesh

### Description
Converts a mesh layer to a mesh.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelColorFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZRGB> *)

### Description
Creates a colored point cloud from a layer using a specified visualization function.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelIntensityFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZI> *)

### Description
Creates a colored point cloud (with intensity) from a layer using a specified visualization function.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createConnectedMesh(const AlignedVector<Mesh::ConstPtr>&, Mesh *, const FloatingPoint)

### Description
Creates a connected mesh from a collection of meshes.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createConnectedMesh(const Mesh&, Mesh *, const FloatingPoint)

### Description
Creates a connected mesh from a single mesh.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createDistancePointcloudFromEsdfLayer

### Description
Creates a point cloud representing distances from an ESDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createDistancePointcloudFromEsdfLayerSlice

### Description
Creates a point cloud representing distances from a slice of an ESDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createDistancePointcloudFromTsdfLayer

### Description
Creates a point cloud representing distances from a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createDistancePointcloudFromTsdfLayerSlice

### Description
Creates a point cloud representing distances from a slice of a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createFreePointcloudFromEsdfLayer

### Description
Creates a point cloud representing free space from an ESDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createIntensityPointcloudFromIntensityLayer

### Description
Creates a point cloud from an intensity layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Template Function voxblox::createOccupancyBlocksFromLayer

### Description
Creates occupancy blocks from a layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createOccupancyBlocksFromOccupancyLayer

### Description
Creates occupancy blocks from an occupancy layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createOccupancyBlocksFromTsdfLayer

### Description
Creates occupancy blocks from a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createPointcloudFromTsdfLayer

### Description
Creates a point cloud from a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createSurfaceDistancePointcloudFromTsdfLayer

### Description
Creates a point cloud representing surface distances from a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::createSurfacePointcloudFromTsdfLayer

### Description
Creates a point cloud representing the surface from a TSDF layer.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::fillMarkerWithMesh

### Description
Fills a marker with mesh data.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::fillPointcloudWithMesh

### Description
Fills a point cloud with mesh data.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A

## Function voxblox::generateVoxbloxMeshMsg

### Description
Generates a ROS message for a Voxblox mesh.

### Method
N/A (Function)

### Endpoint
N/A

### Parameters
N/A

### Request Example
N/A

### Response
N/A
```

--------------------------------

### Pointcloud Transformation

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Function for transforming pointclouds within Voxblox.

```APIDOC
## Function voxblox::transformPointcloud

### Description
Transforms a pointcloud by a given transformation.
```

--------------------------------

### Voxblox Utility Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Utility functions for data handling and serialization within the Voxblox library.

```APIDOC
## Voxblox Utility Functions

### Description
Contains utility functions for common tasks such as writing protocol buffer messages to streams.

### Functions
- `voxblox::utils::writeProtoMsgToStream(const proto::Message& message, std::ostream& stream)`
  - Writes a protocol buffer message to an output stream.
```

--------------------------------

### Layer Utility Functions

Source: https://voxblox.readthedocs.io/en/latest/api/library_root.html

Utility functions for manipulating and analyzing Voxblox layers.

```APIDOC
## Template Function voxblox::utils::centerBlocksOfLayer

### Description
Centers the blocks of a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::clearSphereAroundPoint

### Description
Clears voxels within a sphere around a given point in a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::computeMapBoundsFromLayer

### Description
Computes the map bounds from a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::computeVoxelError

### Description
Computes the error for a voxel.
```

```APIDOC
## Template Function voxblox::utils::evaluateLayersRmse

### Description
Evaluates the Root Mean Square Error (RMSE) between two Voxblox layers.

### Parameters
- **layer1** (const Layer<VoxelType>&) - The first layer.
- **layer2** (const Layer<VoxelType>&) - The second layer.
- **mode** (const VoxelEvaluationMode&) - The evaluation mode.
- **details** (VoxelEvaluationDetails *) - Optional pointer to store evaluation details.
- **layer_diff** (Layer<VoxelType> *) - Optional pointer to store the difference layer.
```

```APIDOC
## Template Function voxblox::utils::evaluateLayersRmse

### Description
Evaluates the Root Mean Square Error (RMSE) between two Voxblox layers.

### Parameters
- **layer1** (const Layer<VoxelType>&) - The first layer.
- **layer2** (const Layer<VoxelType>&) - The second layer.
```

```APIDOC
## Template Function voxblox::utils::fillSphereAroundPoint

### Description
Fills voxels within a sphere around a given point in a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::getAndAllocateSphereAroundPoint

### Description
Gets and allocates voxels within a sphere around a given point in a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::getColorIfValid

### Description
Gets the color of a voxel if it is valid.

### Parameters
- **voxel** (const VoxelType&) - The voxel to get the color from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **color** (Color *) - Pointer to store the color.
```

```APIDOC
## Function voxblox::utils::getColorIfValid

### Description
Gets the color of a TSDF voxel if it is valid.

### Parameters
- **voxel** (const TsdfVoxel&) - The TSDF voxel to get the color from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **color** (Color *) - Pointer to store the color.
```

```APIDOC
## Function voxblox::utils::getColorIfValid

### Description
Gets the color of an ESDF voxel if it is valid.

### Parameters
- **voxel** (const EsdfVoxel&) - The ESDF voxel to get the color from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **color** (Color *) - Pointer to store the color.
```

```APIDOC
## Template Function voxblox::utils::getSdfIfValid

### Description
Gets the SDF value of a voxel if it is valid.

### Parameters
- **voxel** (const VoxelType&) - The voxel to get the SDF from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **sdf** (FloatingPoint *) - Pointer to store the SDF value.
```

```APIDOC
## Function voxblox::utils::getSdfIfValid

### Description
Gets the SDF value of a TSDF voxel if it is valid.

### Parameters
- **voxel** (const TsdfVoxel&) - The TSDF voxel to get the SDF from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **sdf** (FloatingPoint *) - Pointer to store the SDF value.
```

```APIDOC
## Function voxblox::utils::getSdfIfValid

### Description
Gets the SDF value of an ESDF voxel if it is valid.

### Parameters
- **voxel** (const EsdfVoxel&) - The ESDF voxel to get the SDF from.
- **max_distance** (const FloatingPoint) - The maximum distance for validity.
- **sdf** (FloatingPoint *) - Pointer to store the SDF value.
```

```APIDOC
## Template Function voxblox::utils::getSphereAroundPoint

### Description
Gets voxels within a sphere around a given point in a Voxblox layer.
```

```APIDOC
## Template Function voxblox::utils::getVoxelSdf

### Description
Gets the SDF value of a voxel.
```

```APIDOC
## Function voxblox::utils::getVoxelSdf

### Description
Gets the SDF value of a TSDF voxel.
```

```APIDOC
## Function voxblox::utils::getVoxelSdf

### Description
Gets the SDF value of an ESDF voxel.
```

```APIDOC
## Template Function voxblox::utils::isObservedVoxel

### Description
Checks if a voxel is observed.
```

```APIDOC
## Function voxblox::utils::isObservedVoxel

### Description
Checks if a TSDF voxel is observed.
```

```APIDOC
## Function voxblox::utils::isObservedVoxel

### Description
Checks if an ESDF voxel is observed.
```

```APIDOC
## Template Function voxblox::utils::isSameBlock

### Description
Checks if two voxels belong to the same block.
```

```APIDOC
## Template Function voxblox::utils::isSameLayer

### Description
Checks if two voxels belong to the same layer.
```

```APIDOC
## Template Function voxblox::utils::isSameVoxel

### Description
Checks if two voxels are the same.

### Parameters
- **voxel1** (const VoxelType&) - The first voxel.
- **voxel2** (const VoxelType&) - The second voxel.
```

```APIDOC
## Function voxblox::utils::isSameVoxel

### Description
Checks if two TSDF voxels are the same.

### Parameters
- **voxel1** (const TsdfVoxel&) - The first TSDF voxel.
- **voxel2** (const TsdfVoxel&) - The second TSDF voxel.
```

```APIDOC
## Function voxblox::utils::isSameVoxel

### Description
Checks if two ESDF voxels are the same.

### Parameters
- **voxel1** (const EsdfVoxel&) - The first ESDF voxel.
- **voxel2** (const EsdfVoxel&) - The second ESDF voxel.
```

```APIDOC
## Function voxblox::utils::isSameVoxel

### Description
Checks if two Occupancy voxels are the same.

### Parameters
- **voxel1** (const OccupancyVoxel&) - The first Occupancy voxel.
- **voxel2** (const OccupancyVoxel&) - The second Occupancy voxel.
```

```APIDOC
## Function voxblox::utils::readProtoMsgCountToStream

### Description
Reads the count of a protobuf message from a stream.
```

```APIDOC
## Function voxblox::utils::readProtoMsgFromStream

### Description
Reads a protobuf message from a stream.
```

```APIDOC
## Template Function voxblox::utils::setVoxelSdf

### Description
Sets the SDF value of a voxel.

### Parameters
- **sdf** (const FloatingPoint) - The SDF value to set.
- **voxel** (VoxelType *) - Pointer to the voxel to modify.
```

```APIDOC
## Function voxblox::utils::setVoxelSdf

### Description
Sets the SDF value of a TSDF voxel.

### Parameters
- **sdf** (const FloatingPoint) - The SDF value to set.
- **voxel** (TsdfVoxel *) - Pointer to the TSDF voxel to modify.
```

```APIDOC
## Function voxblox::utils::setVoxelSdf

### Description
Sets the SDF value of an ESDF voxel.

### Parameters
- **sdf** (const FloatingPoint) - The SDF value to set.
- **voxel** (EsdfVoxel *) - Pointer to the ESDF voxel to modify.
```

```APIDOC
## Template Function voxblox::utils::setVoxelWeight

### Description
Sets the weight of a voxel.

### Parameters
- **weight** (const FloatingPoint) - The weight to set.
- **voxel** (VoxelType *) - Pointer to the voxel to modify.
```

```APIDOC
## Function voxblox::utils::setVoxelWeight

### Description
Sets the weight of a TSDF voxel.

### Parameters
- **weight** (const FloatingPoint) - The weight to set.
- **voxel** (TsdfVoxel *) - Pointer to the TSDF voxel to modify.
```

```APIDOC
## Function voxblox::utils::setVoxelWeight

### Description
Sets the weight of an ESDF voxel.

### Parameters
- **weight** (const FloatingPoint) - The weight to set.
- **voxel** (EsdfVoxel *) - Pointer to the ESDF voxel to modify.
```

```APIDOC
## Function voxblox::utils::writeProtoMsgCountToStream

### Description
Writes the count of a protobuf message to a stream.
```