#include <OcTreePCL.h>
Public Member Functions | |
| void | calcNumThresholdedNodes (unsigned int &num_thresholded, unsigned int &num_other) const |
| octomap::OcTreeNodePCL * | getOcTreeNodePCL (point3d c) const |
| return OcTreeNodePCL given centroid c | |
| void | insertOcTreeNodePCL (octomap::OcTreeNodePCL *) |
| inserts new OcTreeNodePCL into octree_node_list | |
| void | insertScan (const ScanNode &scan, double maxrange=-1., bool pruning=true) |
| unsigned int | memoryUsage () const |
| OcTreePCL (double _resolution) | |
| std::istream & | readBinary (std::istream &s) |
| binary file format: treetype | resolution | num nodes | [binary nodes] | |
| void | readBinary (const std::string &filename) |
| Reads OcTree from a binary file. Existing nodes are deleted. | |
| void | toMaxLikelihood () |
| std::ostream & | writeBinary (std::ostream &s) |
| void | writeBinary (const std::string &filename) |
| std::ostream & | writeBinaryConst (std::ostream &s) const |
| void | writeBinaryConst (const std::string &filename) const |
Public Attributes | |
| std::vector < octomap::OcTreeNodePCL * > | octree_node_list |
Static Public Attributes | |
| static const int | TREETYPE = 3 |
Protected Member Functions | |
| void | calcNumThresholdedNodesRecurs (OcTreeNodePCL *node, unsigned int &num_thresholded, unsigned int &num_other) const |
| void | insertScanUniform (const ScanNode &scan, double maxrange=-1.) |
| Helper for insertScan (internal use) | |
| void | toMaxLikelihoodRecurs (OcTreeNodePCL *node, unsigned int depth, unsigned int max_depth) |
| recursive call of toMaxLikelihood() | |
octomap main map data structure, stores 3D occupancy grid map in an OcTree. Basic functionality is implemented in OcTreeBase.
Definition at line 14 of file OcTreePCL.h.
| octomap::OcTreePCL::OcTreePCL | ( | double | _resolution | ) |
Creates a new (empty) OcTree of a given resolution
| _resolution |
Definition at line 21 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::calcNumThresholdedNodes | ( | unsigned int & | num_thresholded, |
| unsigned int & | num_other | ||
| ) | const |
Definition at line 79 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::calcNumThresholdedNodesRecurs | ( | OcTreeNodePCL * | node, |
| unsigned int & | num_thresholded, | ||
| unsigned int & | num_other | ||
| ) | const [protected] |
Definition at line 299 of file OcTreePCL.cpp.
| octomap::OcTreeNodePCL * octomap::OcTreePCL::getOcTreeNodePCL | ( | point3d | c | ) | const |
return OcTreeNodePCL given centroid c
Definition at line 320 of file OcTreePCL.cpp.
inserts new OcTreeNodePCL into octree_node_list
Definition at line 315 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::insertScan | ( | const ScanNode & | scan, |
| double | maxrange = -1., |
||
| bool | pruning = true |
||
| ) |
Insert a 3d scan (given as a ScanNode) into the tree. By default, the tree is pruned after insertion (small run-time overhead, but decreases size)
| scan | |
| maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) |
| pruning | whether the tree is (losslessly) pruned after insertion (default: true) |
Definition at line 29 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::insertScanUniform | ( | const ScanNode & | scan, |
| double | maxrange = -1. |
||
| ) | [protected] |
Helper for insertScan (internal use)
Definition at line 205 of file OcTreePCL.cpp.
| unsigned int octomap::OcTreePCL::memoryUsage | ( | ) | const |
Definition at line 70 of file OcTreePCL.cpp.
| std::istream & octomap::OcTreePCL::readBinary | ( | std::istream & | s | ) |
binary file format: treetype | resolution | num nodes | [binary nodes]
Reads an OcTree from an input stream. Existing nodes are deleted.
Definition at line 101 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::readBinary | ( | const std::string & | filename | ) |
Reads OcTree from a binary file. Existing nodes are deleted.
Definition at line 87 of file OcTreePCL.cpp.
Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds.
Definition at line 56 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::toMaxLikelihoodRecurs | ( | OcTreeNodePCL * | node, |
| unsigned int | depth, | ||
| unsigned int | max_depth | ||
| ) | [protected] |
recursive call of toMaxLikelihood()
Definition at line 283 of file OcTreePCL.cpp.
| std::ostream & octomap::OcTreePCL::writeBinary | ( | std::ostream & | s | ) |
Writes OcTree to a binary stream. The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.
Definition at line 171 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::writeBinary | ( | const std::string & | filename | ) |
Writes OcTree to a binary file using writeBinary(). The OcTree is first converted to the maximum likelihood estimate and pruned.
Definition at line 146 of file OcTreePCL.cpp.
| std::ostream & octomap::OcTreePCL::writeBinaryConst | ( | std::ostream & | s | ) | const |
Writes the maximum likelihood OcTree to a binary stream (const variant). Files will be smaller when the tree is pruned first.
Definition at line 181 of file OcTreePCL.cpp.
| void octomap::OcTreePCL::writeBinaryConst | ( | const std::string & | filename | ) | const |
Writes OcTree to a binary file using writeBinaryConst(). The OcTree is not changed, in particular not pruned first.
Definition at line 158 of file OcTreePCL.cpp.
| std::vector< octomap::OcTreeNodePCL *> octomap::OcTreePCL::octree_node_list |
Definition at line 18 of file OcTreePCL.h.
const int octomap::OcTreePCL::TREETYPE = 3 [static] |
Definition at line 17 of file OcTreePCL.h.
