A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.
This version stores both, occupancy information and RGB colour data at each octree node. See the base class mrpt::maps::COctoMapBase.
Definition at line 32 of file maps/CColouredOctoMap.h.
#include <mrpt/maps/CColouredOctoMap.h>
Classes | |
struct | TMapDefinition |
struct | TMapDefinitionBase |
Public Types | |
enum | TColourUpdate { INTEGRATE = 0 , SET , AVERAGE } |
This allows the user to select the desired method to update voxels colour. More... | |
typedef COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode > | myself_t |
The type of this MRPT class. More... | |
typedef octomap::ColorOcTree | octree_t |
The type of the octree class in the "octomap" library. More... | |
typedef octomap::ColorOcTreeNode | octree_node_t |
The type of nodes in the octree, in the "octomap" library. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CColouredOctoMap (const double resolution=0.10) | |
Default constructor. More... | |
virtual | ~CColouredOctoMap () |
Destructor. More... | |
bool | getPointColour (const float x, const float y, const float z, uint8_t &r, uint8_t &g, uint8_t &b) const |
Get the RGB colour of a point. More... | |
void | updateVoxelColour (const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b) |
Manually update the colour of the voxel at (x,y,z) More... | |
void | setVoxelColourMethod (TColourUpdate new_method) |
Set the method used to update voxels colour. More... | |
TColourUpdate | getVoxelColourMethod () |
Get the method used to update voxels colour. More... | |
virtual void | getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE |
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More... | |
octomap::ColorOcTree & | getOctomap () |
Get a reference to the internal octomap object. More... | |
virtual bool | isEmpty () const MRPT_OVERRIDE |
Returns true if the map is empty/no observation has been inserted. More... | |
virtual void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More... | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE |
Returns a 3D object representing the map. More... | |
bool | isPointWithinOctoMap (const float x, const float y, const float z) const |
Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped") More... | |
bool | getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const |
Get the occupancy probability [0,1] of a point. More... | |
void | updateVoxel (const double x, const double y, const double z, bool occupied) |
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions. More... | |
void | insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z) |
Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. More... | |
void | insertRay (const float end_x, const float end_y, const float end_z, const float sensor_x, const float sensor_y, const float sensor_z) |
Just like insertPointCloud but with a single ray. More... | |
bool | castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
Performs raycasting in 3d, similar to computeRay(). More... | |
void | clear () |
Erase all the contents of the map. More... | |
void | loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. More... | |
void | loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. More... | |
bool | insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) |
Insert the observation information into this map. More... | |
bool | insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL) |
A wrapper for smart pointers, just calls the non-smart pointer version. More... | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More... | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
virtual bool | canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More... | |
bool | canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
double | computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom) |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More... | |
bool | canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More... | |
virtual void | determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matching between this and another 2D point map, which includes finding: More... | |
virtual void | determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matchings between this and another 3D points map - method used in 3D-ICP. More... | |
virtual float | compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More... | |
virtual void | auxParticleFilterCleanUp () |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More... | |
virtual float | squareDistanceToClosestCorrespondence (float x0, float y0) const |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More... | |
virtual const mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () const |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More... | |
virtual mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Direct access to octomap library methods | |
double | getResolution () const |
unsigned int | getTreeDepth () const |
size_t | size () const |
size_t | memoryUsage () const |
size_t | memoryUsageNode () const |
size_t | memoryFullGrid () const |
double | volume () const |
void | getMetricSize (double &x, double &y, double &z) |
Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
void | getMetricSize (double &x, double &y, double &z) const |
Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
void | getMetricMin (double &x, double &y, double &z) |
minimum value of the bounding box of all known space in x, y, z More... | |
void | getMetricMin (double &x, double &y, double &z) const |
minimum value of the bounding box of all known space in x, y, z More... | |
void | getMetricMax (double &x, double &y, double &z) |
maximum value of the bounding box of all known space in x, y, z More... | |
void | getMetricMax (double &x, double &y, double &z) const |
maximum value of the bounding box of all known space in x, y, z More... | |
size_t | calcNumNodes () const |
Traverses the tree to calculate the total number of nodes. More... | |
size_t | getNumLeafNodes () const |
Traverses the tree to calculate the total number of leaf nodes. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
TInsertionOptions | insertionOptions |
The options used when inserting observations in the map. More... | |
TLikelihoodOptions | likelihoodOptions |
TRenderingOptions | renderingOptions |
TMapGenericParams | genericMapParams |
Common params to all maps. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
bool | internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE |
Internal method called by insertObservation() More... | |
virtual void | internal_clear () MRPT_OVERRIDE |
Internal method called by clear() More... | |
bool | internal_build_PointCloud_for_observation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose, octomap::point3d &point3d_sensorPt, octomap::Pointcloud &ptr_scan) const |
Builds the list of 3D points in global coordinates for a generic observation. More... | |
void | publishEvent (const mrptEvent &e) const |
Called when you want this object to emit an event to all the observers currently subscribed to this object. More... | |
bool | hasSubscribers () const |
Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Protected Attributes | |
TColourUpdate | m_colour_method |
octomap::ColorOcTree | m_octomap |
The actual octo-map object. More... | |
Private Member Functions | |
virtual double | internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE |
Internal method called by computeObservationLikelihood() More... | |
virtual bool | internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Internal method called by canComputeObservationLikelihood() More... | |
virtual void | OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More... | |
void | internal_observer_begin (CObserver *) |
void | internal_observer_end (CObserver *) |
Private Attributes | |
std::set< CObserver * > | m_subscribers |
RTTI stuff <br> | |
typedef CColouredOctoMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CColouredOctoMap |
static mrpt::utils::TRuntimeClassId | classCColouredOctoMap |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CColouredOctoMapPtr | Create () |
Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{ | |
static const size_t | m_private_map_register_id |
ID used to initialize class registration (just ignore it) More... | |
static mrpt::maps::TMetricMapInitializer * | MapDefinition () |
Returns default map definition initializer. More... | |
static CColouredOctoMap * | CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Constructor from a map definition structure: initializes the map and its parameters accordingly. More... | |
static mrpt::maps::CMetricMap * | internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
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inherited |
The type of this MRPT class.
Definition at line 46 of file maps/COctoMapBase.h.
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The type of nodes in the octree, in the "octomap" library.
Definition at line 48 of file maps/COctoMapBase.h.
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The type of the octree class in the "octomap" library.
Definition at line 47 of file maps/COctoMapBase.h.
typedef CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::SmartPtr |
A typedef for the associated smart pointer
Definition at line 35 of file maps/CColouredOctoMap.h.
This allows the user to select the desired method to update voxels colour.
SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn't any previous color, any method is equivalent to SET. INTEGRATE is the default option
Enumerator | |
---|---|
INTEGRATE | |
SET | |
AVERAGE |
Definition at line 47 of file maps/CColouredOctoMap.h.
mrpt::maps::CColouredOctoMap::CColouredOctoMap | ( | const double | resolution = 0.10 | ) |
Default constructor.
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virtual |
Destructor.
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staticprotected |
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inlinevirtualinherited |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.
Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.
Definition at line 235 of file maps/CMetricMap.h.
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Traverses the tree to calculate the total number of nodes.
Definition at line 284 of file maps/COctoMapBase.h.
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virtualinherited |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
obs | The observation. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
sf | The observations. |
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inherited |
Performs raycasting in 3d, similar to computeRay().
A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.
origin | starting coordinate of ray |
direction | A vector pointing in the direction of the raycast. Does not need to be normalized. |
end | returns the center of the cell that was hit by the ray, if successful |
ignoreUnknownCells | whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit. |
maxRange | Maximum range after which the raycast is aborted (<= 0: no limit, default) |
Definition at line 249 of file COctoMapBase_impl.h.
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Erase all the contents of the map.
Referenced by mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), and mrpt::maps::CReflectivityGridMap2D::clear().
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inlineinherited |
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virtualinherited |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
This method always return 0 for grid maps.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
params | [IN] Matching parameters |
Reimplemented in mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, and mrpt::maps::CBeaconMap.
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
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inherited |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.
takenFrom | The robot's pose the observation is supposed to be taken from. |
sf | The set of observations in a CSensoryFrame. |
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static |
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static |
Constructor from a map definition structure: initializes the map and its parameters accordingly.
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static |
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virtualinherited |
Computes the matching between this and another 2D point map, which includes finding:
The algorithm is:
This method is the most time critical one into ICP-like algorithms.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.
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virtualinherited |
Computes the matchings between this and another 3D points map - method used in 3D-ICP.
This method finds the set of point pairs in each map.
The method is the most time critical one into ICP-like algorithms.
The algorithm is:
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CPointsMap.
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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inlinevirtualinherited |
Returns a 3D object representing the map.
Implements mrpt::maps::CMetricMap.
Definition at line 195 of file maps/COctoMapBase.h.
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virtual |
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.
Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.
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inlinevirtualinherited |
Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CPointsMap, and mrpt::maps::CMultiMetricMap.
Definition at line 244 of file maps/CMetricMap.h.
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inlinevirtualinherited |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
Otherwise, return NULL
Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CPointsMap, and mrpt::maps::CMultiMetricMap.
Definition at line 243 of file maps/CMetricMap.h.
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inlineinherited |
maximum value of the bounding box of all known space in x, y, z
Definition at line 279 of file maps/COctoMapBase.h.
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inlineinherited |
maximum value of the bounding box of all known space in x, y, z
Definition at line 281 of file maps/COctoMapBase.h.
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inlineinherited |
minimum value of the bounding box of all known space in x, y, z
Definition at line 275 of file maps/COctoMapBase.h.
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inlineinherited |
minimum value of the bounding box of all known space in x, y, z
Definition at line 277 of file maps/COctoMapBase.h.
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inlineinherited |
Size of OcTree (all known space) in meters for x, y and z dimension.
Definition at line 271 of file maps/COctoMapBase.h.
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inlineinherited |
Size of OcTree (all known space) in meters for x, y and z dimension.
Definition at line 273 of file maps/COctoMapBase.h.
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inlineinherited |
Traverses the tree to calculate the total number of leaf nodes.
Definition at line 287 of file maps/COctoMapBase.h.
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inlineinherited |
Get a reference to the internal octomap object.
Example:
Definition at line 64 of file maps/COctoMapBase.h.
bool mrpt::maps::CColouredOctoMap::getPointColour | ( | const float | x, |
const float | y, | ||
const float | z, | ||
uint8_t & | r, | ||
uint8_t & | g, | ||
uint8_t & | b | ||
) | const |
Get the RGB colour of a point.
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inherited |
Get the occupancy probability [0,1] of a point.
Definition at line 216 of file COctoMapBase_impl.h.
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inlineinherited |
Definition at line 259 of file maps/COctoMapBase.h.
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::maps::CMetricMap.
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inlineinherited |
Definition at line 260 of file maps/COctoMapBase.h.
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inline |
Get the method used to update voxels colour.
Definition at line 65 of file maps/CColouredOctoMap.h.
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inlineprotectedinherited |
Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.
Definition at line 52 of file CObservable.h.
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inherited |
Insert the observation information into this map.
This method must be implemented in derived classes.
obs | The observation |
robotPose | The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin. |
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inherited |
A wrapper for smart pointers, just calls the non-smart pointer version.
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inherited |
Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.
Insertion parameters can be found in insertionOptions.
Definition at line 228 of file COctoMapBase_impl.h.
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inlineinherited |
Just like insertPointCloud but with a single ray.
Definition at line 231 of file maps/COctoMapBase.h.
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protectedinherited |
Builds the list of 3D points in global coordinates for a generic observation.
Used for both, insertObservation() and computeLikelihood().
[out] | point3d_sensorPt | Is a pointer to a "point3D". |
[out] | ptr_scan | Is in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code. |
Definition at line 300 of file COctoMapBase_impl.h.
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inlineprivatevirtualinherited |
Internal method called by canComputeObservationLikelihood()
Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.
Definition at line 71 of file maps/CMetricMap.h.
References MRPT_UNUSED_PARAM.
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inlineprotectedvirtualinherited |
Internal method called by clear()
Implements mrpt::maps::CMetricMap.
Definition at line 293 of file maps/COctoMapBase.h.
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privatevirtualinherited |
Internal method called by computeObservationLikelihood()
Implements mrpt::maps::CMetricMap.
Definition at line 306 of file COctoMapBase_impl.h.
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static |
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protectedvirtual |
Internal method called by insertObservation()
Implements mrpt::maps::CMetricMap.
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privateinherited |
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privateinherited |
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virtualinherited |
Returns true if the map is empty/no observation has been inserted.
Implements mrpt::maps::CMetricMap.
Definition at line 163 of file COctoMapBase_impl.h.
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inlineinherited |
Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")
Definition at line 208 of file maps/COctoMapBase.h.
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inherited |
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
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inlineinherited |
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
Definition at line 105 of file maps/CMetricMap.h.
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static |
Returns default map definition initializer.
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inlineinherited |
Definition at line 268 of file maps/COctoMapBase.h.
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inlineinherited |
Definition at line 264 of file maps/COctoMapBase.h.
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inlineinherited |
Definition at line 266 of file maps/COctoMapBase.h.
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inlineprivatevirtualinherited |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.
Reimplemented in mrpt::maps::COccupancyGridMap2D.
Definition at line 79 of file maps/CMetricMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inlinestatic |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inline |
Definition at line 35 of file maps/CColouredOctoMap.h.
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protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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virtualinherited |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
Implements mrpt::maps::CMetricMap.
Definition at line 165 of file COctoMapBase_impl.h.
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inline |
Set the method used to update voxels colour.
Definition at line 62 of file maps/CColouredOctoMap.h.
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inlineinherited |
Definition at line 262 of file maps/COctoMapBase.h.
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virtualinherited |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
Reimplemented in mrpt::maps::CPointsMap.
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inlineinherited |
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions.
Definition at line 219 of file maps/COctoMapBase.h.
void mrpt::maps::CColouredOctoMap::updateVoxelColour | ( | const double | x, |
const double | y, | ||
const double | z, | ||
const uint8_t | r, | ||
const uint8_t | g, | ||
const uint8_t | b | ||
) |
Manually update the colour of the voxel at (x,y,z)
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inlineinherited |
Definition at line 269 of file maps/COctoMapBase.h.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 35 of file maps/CColouredOctoMap.h.
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static |
Definition at line 35 of file maps/CColouredOctoMap.h.
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staticinherited |
Definition at line 57 of file maps/CMetricMap.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 35 of file maps/CColouredOctoMap.h.
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inherited |
Common params to all maps.
Definition at line 230 of file maps/CMetricMap.h.
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inherited |
The options used when inserting observations in the map.
Definition at line 139 of file maps/COctoMapBase.h.
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inherited |
Definition at line 160 of file maps/COctoMapBase.h.
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protected |
Definition at line 78 of file maps/CColouredOctoMap.h.
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protectedinherited |
The actual octo-map object.
Definition at line 302 of file maps/COctoMapBase.h.
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static |
ID used to initialize class registration (just ignore it)
Definition at line 73 of file maps/CColouredOctoMap.h.
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privateinherited |
Definition at line 42 of file CObservable.h.
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inherited |
Definition at line 190 of file maps/COctoMapBase.h.
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