#include <OctoMap.h>

Public Member Functions
const std::map< int, Transform > &	addedNodes () const
void	addToCache (int nodeId, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &ground, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &obstacles, const pcl::PointXYZ &viewPoint)
void	addToCache (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, const cv::Point3f &viewPoint)
void	clear ()
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	createCloud (unsigned int treeDepth=0, std::vector< int > obstacleIndices=0, std::vector< int > emptyIndices=0, std::vector< int > *groundIndices=0, bool originalRefPoints=true) const
cv::Mat	createProjectionMap (float &xMin, float &yMin, float &gridCellSize, float minGridSize=0.0f, unsigned int treeDepth=0)
void	getGridMax (double &x, double &y, double &z) const
void	getGridMin (double &x, double &y, double &z) const
bool	hasColor () const
	OctoMap (const ParametersMap &parameters)
	OctoMap (float cellSize=0.1f, float occupancyThr=0.5f, bool fullUpdate=false, float updateError=0.01f)
const RtabmapColorOcTree *	octree () const
void	setMaxRange (float value)
void	setRayTracing (bool enabled)
void	update (const std::map< int, Transform > &poses)
bool	writeBinary (const std::string &path)
virtual	~OctoMap ()
Static Public Member Functions
static void	HSVtoRGB (float r, float g, float *b, float h, float s, float v)
Private Member Functions
void	updateMinMax (const octomap::point3d &point)
Private Attributes
std::map< int, Transform >	addedNodes_
std::map< int, std::pair < std::pair< cv::Mat, cv::Mat > , cv::Mat > >	cache_
std::map< int, std::pair < const pcl::PointCloud < pcl::PointXYZRGB >::Ptr, const pcl::PointCloud < pcl::PointXYZRGB >::Ptr > >	cacheClouds_
std::map< int, cv::Point3f >	cacheViewPoints_
bool	fullUpdate_
bool	hasColor_
octomap::KeyRay	keyRay_
double	maxValues_ [3]
double	minValues_ [3]
RtabmapColorOcTree *	octree_
float	rangeMax_
bool	rayTracing_
float	updateError_

Detailed Description

Definition at line 169 of file OctoMap.h.

Constructor & Destructor Documentation

rtabmap::OctoMap::OctoMap ( const ParametersMap & parameters )

Definition at line 265 of file OctoMap.cpp.

rtabmap::OctoMap::OctoMap	(	float	cellSize = `0.1f`,
		float	occupancyThr = `0.5f`,
		bool	fullUpdate = `false`,
		float	updateError = `0.01f`
	)

Definition at line 309 of file OctoMap.cpp.

rtabmap::OctoMap::~OctoMap ( ) [virtual]

Definition at line 324 of file OctoMap.cpp.

Member Function Documentation

const std::map<int, Transform>& rtabmap::OctoMap::addedNodes ( ) const [inline]

Definition at line 177 of file OctoMap.h.

void rtabmap::OctoMap::addToCache	(	int	nodeId,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	ground,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	obstacles,
		const pcl::PointXYZ &	viewPoint
	)

Definition at line 343 of file OctoMap.cpp.

void rtabmap::OctoMap::addToCache	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		const cv::Point3f &	viewPoint
	)

Definition at line 353 of file OctoMap.cpp.

void rtabmap::OctoMap::clear ( )

Definition at line 330 of file OctoMap.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::OctoMap::createCloud	(	unsigned int	treeDepth = `0`,
		std::vector< int > *	obstacleIndices = `0`,
		std::vector< int > *	emptyIndices = `0`,
		std::vector< int > *	groundIndices = `0`,
		bool	originalRefPoints = `true`
	)		const

Definition at line 920 of file OctoMap.cpp.

cv::Mat rtabmap::OctoMap::createProjectionMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize,
		float	minGridSize = `0.0f`,
		unsigned int	treeDepth = `0`
	)

Definition at line 1043 of file OctoMap.cpp.

void rtabmap::OctoMap::getGridMax	(	double &	x,
		double &	y,
		double &	z
	)		const `[inline]`

Definition at line 211 of file OctoMap.h.

void rtabmap::OctoMap::getGridMin	(	double &	x,
		double &	y,
		double &	z
	)		const `[inline]`

Definition at line 210 of file OctoMap.h.

bool rtabmap::OctoMap::hasColor ( ) const [inline]

Definition at line 215 of file OctoMap.h.

void rtabmap::OctoMap::HSVtoRGB	(	float *	r,
		float *	g,
		float *	b,
		float	h,
		float	s,
		float	v
	)		`[static]`

Definition at line 871 of file OctoMap.cpp.

const RtabmapColorOcTree* rtabmap::OctoMap::octree ( ) const [inline]

Definition at line 189 of file OctoMap.h.

void rtabmap::OctoMap::setMaxRange ( float value ) [inline]

Definition at line 213 of file OctoMap.h.

void rtabmap::OctoMap::setRayTracing ( bool enabled ) [inline]

Definition at line 214 of file OctoMap.h.

void rtabmap::OctoMap::update ( const std::map< int, Transform > & poses )

Definition at line 367 of file OctoMap.cpp.

void rtabmap::OctoMap::updateMinMax ( const octomap::point3d & point ) [private]

Definition at line 843 of file OctoMap.cpp.

bool rtabmap::OctoMap::writeBinary ( const std::string & path )

Definition at line 1098 of file OctoMap.cpp.

Member Data Documentation

std::map<int, Transform> rtabmap::OctoMap::addedNodes_ [private]

Definition at line 225 of file OctoMap.h.

std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > rtabmap::OctoMap::cache_ [private]

Definition at line 221 of file OctoMap.h.

std::map<int, std::pair<const pcl::PointCloud<pcl::PointXYZRGB>::Ptr, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > rtabmap::OctoMap::cacheClouds_ [private]

Definition at line 222 of file OctoMap.h.

std::map<int, cv::Point3f> rtabmap::OctoMap::cacheViewPoints_ [private]

Definition at line 223 of file OctoMap.h.

bool rtabmap::OctoMap::fullUpdate_ [private]

Definition at line 228 of file OctoMap.h.

bool rtabmap::OctoMap::hasColor_ [private]

Definition at line 227 of file OctoMap.h.

octomap::KeyRay rtabmap::OctoMap::keyRay_ [private]

Definition at line 226 of file OctoMap.h.

double rtabmap::OctoMap::maxValues_[3] [private]

Definition at line 233 of file OctoMap.h.

double rtabmap::OctoMap::minValues_[3] [private]