#include <ColorOcTree.h>

Inheritance diagram for octomap::ColorOcTree:

[legend]

Classes
class	StaticMemberInitializer

Public Member Functions
ColorOcTreeNode *	averageNodeColor (const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)

ColorOcTreeNode *	averageNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)

	ColorOcTree (double resolution)
	Default constructor, sets resolution of leafs. More...

ColorOcTree *	create () const

std::string	getTreeType () const
	returns actual class name as string for identification More...

ColorOcTreeNode *	integrateNodeColor (const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)

ColorOcTreeNode *	integrateNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)

virtual bool	isNodeCollapsible (const ColorOcTreeNode *node) const

virtual bool	pruneNode (ColorOcTreeNode *node)

ColorOcTreeNode *	setNodeColor (const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)

ColorOcTreeNode *	setNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)

void	updateInnerOccupancy ()

void	writeColorHistogram (std::string filename)

Public Member Functions inherited from octomap::OccupancyOcTreeBase< ColorOcTreeNode >
bool	bbxSet () const

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const

KeyBoolMap::const_iterator	changedKeysBegin () const

KeyBoolMap::const_iterator	changedKeysEnd () const
	Iterator to traverse all keys of changed nodes. More...

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	enableChangeDetection (bool enable)
	track or ignore changes while inserting scans (default: ignore) More...

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const point3d &p) const

bool	inBBX (const OcTreeKey &key) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)

virtual void	integrateHit (ColorOcTreeNode *occupancyNode) const
	integrate a "hit" measurement according to the tree's sensor model More...

virtual void	integrateMiss (ColorOcTreeNode *occupancyNode) const
	integrate a "miss" measurement according to the tree's sensor model More...

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (ColorOcTreeNode *occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More...

virtual void	nodeToMaxLikelihood (ColorOcTreeNode &occupancyNode) const
	converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More...

size_t	numChangesDetected () const
	Number of changes since last reset. More...

	OccupancyOcTreeBase (double resolution)
	Default constructor, sets resolution of leafs. More...

	OccupancyOcTreeBase (const OccupancyOcTreeBase< ColorOcTreeNode > &rhs)
	Copy constructor. More...

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, ColorOcTreeNode *node)

void	resetChangeDetection ()
	Reset the set of changed keys. Call this after you obtained all changed nodes. More...

void	setBBXMax (point3d &max)
	sets the maximum for a query bounding box to use More...

void	setBBXMin (point3d &min)
	sets the minimum for a query bounding box to use More...

virtual ColorOcTreeNode *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual ColorOcTreeNode *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual ColorOcTreeNode *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

virtual ColorOcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)

virtual ColorOcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)

virtual ColorOcTreeNode *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual ColorOcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)

virtual ColorOcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)

virtual ColorOcTreeNode *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual void	updateNodeLogOdds (ColorOcTreeNode *occupancyNode, const float &update) const
	update logodds value of node by adding to the current value. More...

void	useBBXLimit (bool enable)
	use or ignore BBX limit (default: ignore) More...

std::ostream &	writeBinaryData (std::ostream &s) const

std::ostream &	writeBinaryNode (std::ostream &s, const ColorOcTreeNode *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const

key_type	adjustKeyAtDepth (key_type key, unsigned int depth) const

iterator	begin (unsigned char maxDepth=0) const

leaf_iterator	begin_leafs (unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const

leaf_bbx_iterator	begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const

tree_iterator	begin_tree (unsigned char maxDepth=0) const

size_t	calcNumNodes () const
	Traverses the tree to calculate the total number of nodes. More...

void	clear ()
	Deletes the complete tree structure. More...

void	clearKeyRays ()

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const

key_type	coordToKey (double coordinate) const
	Converts from a single coordinate into a discrete key. More...

key_type	coordToKey (double coordinate, unsigned depth) const
	Converts from a single coordinate into a discrete key at a given depth. More...

OcTreeKey	coordToKey (const point3d &coord) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (double x, double y, double z) const
	Converts from a 3D coordinate into a 3D addressing key. More...

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const
	Converts from a 3D coordinate into a 3D addressing key at a given depth. More...

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const

ColorOcTreeNode *	createNodeChild (ColorOcTreeNode *node, unsigned int childIdx)
	Creates (allocates) the i-th child of the node. More...

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

void	deleteNodeChild (ColorOcTreeNode *node, unsigned int childIdx)
	Deletes the i-th child of the node. More...

const iterator	end () const

const leaf_iterator	end_leafs () const

const leaf_bbx_iterator	end_leafs_bbx () const

const tree_iterator	end_tree () const

virtual void	expand ()

virtual void	expandNode (ColorOcTreeNode *node)

virtual 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...

virtual 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...

virtual void	getMetricSize (double &x, double &y, double &z)
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

virtual void	getMetricSize (double &x, double &y, double &z) const
	Size of OcTree (all known space) in meters for x, y and z dimension. More...

ColorOcTreeNode *	getNodeChild (ColorOcTreeNode *node, unsigned int childIdx) const

const ColorOcTreeNode *	getNodeChild (const ColorOcTreeNode *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes. More...

double	getResolution () const

ColorOcTreeNode *	getRoot () const

unsigned int	getTreeDepth () const

std::string	getTreeType () const

void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const
	return centers of leafs that do NOT exist (but could) in a given bounding box More...

double	keyToCoord (key_type key, unsigned depth) const

double	keyToCoord (key_type key) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const ColorOcTreeNode *node, unsigned int childIdx) const

bool	nodeHasChildren (const ColorOcTreeNode *node) const

	OcTreeBaseImpl (double resolution)

	OcTreeBaseImpl (const OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree > &rhs)
	Deep copy constructor. More...

bool	operator== (const OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

std::istream &	readData (std::istream &s)

ColorOcTreeNode *	search (double x, double y, double z, unsigned int depth=0) const

ColorOcTreeNode *	search (const point3d &value, unsigned int depth=0) const

ColorOcTreeNode *	search (const OcTreeKey &key, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree > &rhs)

double	volume ()

std::ostream &	writeData (std::ostream &s) const

virtual	~OcTreeBaseImpl ()

Public Member Functions inherited from octomap::AbstractOccupancyOcTree
	AbstractOccupancyOcTree ()

double	getClampingThresMax () const

float	getClampingThresMaxLog () const

double	getClampingThresMin () const

float	getClampingThresMinLog () const

double	getOccupancyThres () const

float	getOccupancyThresLog () const

double	getProbHit () const

float	getProbHitLog () const

double	getProbMiss () const

float	getProbMissLog () const

bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter More...

bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter More...

bool	isNodeOccupied (const OcTreeNode *occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy" More...

bool	isNodeOccupied (const OcTreeNode &occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy" More...

bool	readBinary (std::istream &s)

bool	readBinary (const std::string &filename)

void	setClampingThresMax (double thresProb)
	sets the maximum threshold for occupancy clamping (sensor model) More...

void	setClampingThresMin (double thresProb)
	sets the minimum threshold for occupancy clamping (sensor model) More...

void	setOccupancyThres (double prob)
	sets the threshold for occupancy (sensor model) More...

void	setProbHit (double prob)
	sets the probability for a "hit" (will be converted to logodds) - sensor model More...

void	setProbMiss (double prob)
	sets the probability for a "miss" (will be converted to logodds) - sensor model More...

bool	writeBinary (const std::string &filename)

bool	writeBinary (std::ostream &s)

bool	writeBinaryConst (const std::string &filename) const

bool	writeBinaryConst (std::ostream &s) const

virtual	~AbstractOccupancyOcTree ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization) More...

bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization) More...

virtual	~AbstractOcTree ()

Protected Member Functions
void	updateInnerOccupancyRecurs (ColorOcTreeNode *node, unsigned int depth)

Protected Member Functions inherited from octomap::OccupancyOcTreeBase< ColorOcTreeNode >
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

ColorOcTreeNode *	setNodeValueRecurs (ColorOcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (ColorOcTreeNode *node, unsigned int depth)

ColorOcTreeNode *	updateNodeRecurs (ColorOcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

Protected Member Functions inherited from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >
void	allocNodeChildren (ColorOcTreeNode *node)

void	calcMinMax ()
	recalculates min and max in x, y, z. Does nothing when tree size didn't change. More...

void	calcNumNodesRecurs (ColorOcTreeNode *node, size_t &num_nodes) const

void	deleteNodeRecurs (ColorOcTreeNode *node)
	recursive delete of node and all children (deallocates memory) More...

bool	deleteNodeRecurs (ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
	recursive call of deleteNode() More...

void	expandRecurs (ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth)
	recursive call of expand() More...

size_t	getNumLeafNodesRecurs (const ColorOcTreeNode *parent) const

void	init ()
	initialize non-trivial members, helper for constructors More...

	OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

void	pruneRecurs (ColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
	recursive call of prune() More...

std::istream &	readNodesRecurs (ColorOcTreeNode *, std::istream &s)
	recursive call of readData() More...

std::ostream &	writeNodesRecurs (const ColorOcTreeNode *, std::ostream &s) const
	recursive call of writeData() More...

Protected Member Functions inherited from octomap::AbstractOccupancyOcTree
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
	Try to read the old binary format for conversion, will be removed in the future. More...

Static Protected Attributes
static StaticMemberInitializer	colorOcTreeMemberInit
	static member to ensure static initialization (only once) More...

Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree
static const std::string	binaryFileHeader = "# Octomap OcTree binary file"

Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string	fileHeader = "# Octomap OcTree file"

Additional Inherited Members
Public Types inherited from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef ColorOcTreeNode	NodeType
	Make the templated NODE type available from the outside. More...

Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree *	createTree (const std::string id, double res)

static AbstractOcTree *	read (const std::string &filename)

static AbstractOcTree *	read (std::istream &s)

Static Protected Member Functions inherited from octomap::AbstractOcTree
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)

static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes inherited from octomap::OccupancyOcTreeBase< ColorOcTreeNode >
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys
	Set of leaf keys (lowest level) which changed since last resetChangeDetection. More...

bool	use_bbx_limit
	use bounding box for queries (needs to be set)? More...

bool	use_change_detection

Protected Attributes inherited from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays
	data structure for ray casting, array for multithreading More...

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]
	max in x, y, z More...

double	min_value [3]

double	resolution
	in meters More...

double	resolution_factor
	= 1. / resolution More...

ColorOcTreeNode *	root
	Pointer to the root NODE, NULL for empty tree. More...

bool	size_changed
	flag to denote whether the octree extent changed (for lazy min/max eval) More...

std::vector< double >	sizeLookupTable
	contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More...

point3d	tree_center

const unsigned int	tree_depth
	Maximum tree depth is fixed to 16 currently. More...

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Protected Attributes inherited from octomap::AbstractOccupancyOcTree
float	clamping_thres_max

float	clamping_thres_min

float	occ_prob_thres_log

float	prob_hit_log

float	prob_miss_log

Detailed Description

Definition at line 108 of file ColorOcTree.h.

Constructor & Destructor Documentation

octomap::ColorOcTree::ColorOcTree ( double resolution )

Default constructor, sets resolution of leafs.

Definition at line 91 of file ColorOcTree.cpp.

Member Function Documentation

ColorOcTreeNode * octomap::ColorOcTree::averageNodeColor	(	const OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 146 of file ColorOcTree.cpp.

ColorOcTreeNode* octomap::ColorOcTree::averageNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 146 of file ColorOcTree.h.

ColorOcTree* octomap::ColorOcTree::create ( ) const

inlinevirtual

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

Implements octomap::AbstractOcTree.

Definition at line 116 of file ColorOcTree.h.

std::string octomap::ColorOcTree::getTreeType ( ) const

inlinevirtual

returns actual class name as string for identification

Implements octomap::AbstractOcTree.

Definition at line 118 of file ColorOcTree.h.

ColorOcTreeNode * octomap::ColorOcTree::integrateNodeColor	(	const OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 163 of file ColorOcTree.cpp.

ColorOcTreeNode* octomap::ColorOcTree::integrateNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 158 of file ColorOcTree.h.

bool octomap::ColorOcTree::isNodeCollapsible ( const ColorOcTreeNode * node ) const

virtual

A node is collapsible if all children exist, don't have children of their own and have the same occupancy value

Reimplemented from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >.

Definition at line 127 of file ColorOcTree.cpp.

bool octomap::ColorOcTree::pruneNode ( ColorOcTreeNode * node )

virtual

Prunes a node when it is collapsible. This overloaded version only considers the node occupancy for pruning, different colors of child nodes are ignored.

Returns: true if pruning was successful

Reimplemented from octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >.

Definition at line 107 of file ColorOcTree.cpp.

ColorOcTreeNode * octomap::ColorOcTree::setNodeColor	(	const OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 96 of file ColorOcTree.cpp.

ColorOcTreeNode* octomap::ColorOcTree::setNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 134 of file ColorOcTree.h.

void octomap::ColorOcTree::updateInnerOccupancy ( )

Definition at line 188 of file ColorOcTree.cpp.

void octomap::ColorOcTree::updateInnerOccupancyRecurs	(	ColorOcTreeNode *	node,
		unsigned int	depth
	)

protected

Definition at line 192 of file ColorOcTree.cpp.

void octomap::ColorOcTree::writeColorHistogram ( std::string filename )

Definition at line 208 of file ColorOcTree.cpp.

Member Data Documentation

ColorOcTree::StaticMemberInitializer octomap::ColorOcTree::colorOcTreeMemberInit

staticprotected

static member to ensure static initialization (only once)

Definition at line 198 of file ColorOcTree.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation