rtabmap::OctoMap Class Reference

#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

Definition at line 232 of file OctoMap.h.

RtabmapColorOcTree* rtabmap::OctoMap::octree_

private

Definition at line 224 of file OctoMap.h.

float rtabmap::OctoMap::rangeMax_

private

Definition at line 230 of file OctoMap.h.

bool rtabmap::OctoMap::rayTracing_

private

Definition at line 231 of file OctoMap.h.

float rtabmap::OctoMap::updateError_

private

Definition at line 229 of file OctoMap.h.

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

• OctoMap.h
• OctoMap.cpp