#include <OctoMap.h>

Inheritance diagram for rtabmap::RtabmapColorOcTree:

Classes
class	StaticMemberInitializer

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

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

RtabmapColorOcTree *	create () const

std::string	getTreeType () const

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

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

virtual bool	isNodeCollapsible (const RtabmapColorOcTreeNode *node) const

virtual bool	pruneNode (RtabmapColorOcTreeNode *node)

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

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

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

void	updateInnerOccupancy ()

virtual	~RtabmapColorOcTree ()

Public Member Functions inherited from octomap::OccupancyOcTreeBase< RtabmapColorOcTreeNode >
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

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)

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 (RtabmapColorOcTreeNode *occupancyNode) const

virtual void	integrateMiss (RtabmapColorOcTreeNode *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (RtabmapColorOcTreeNode *occupancyNode) const

virtual void	nodeToMaxLikelihood (RtabmapColorOcTreeNode &occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (double resolution)

	OccupancyOcTreeBase (const OccupancyOcTreeBase< RtabmapColorOcTreeNode > &rhs)

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

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

void	resetChangeDetection ()

void	setBBXMax (point3d &max)

void	setBBXMin (point3d &min)

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

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

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

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

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

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

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

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

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

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

virtual void	updateNodeLogOdds (RtabmapColorOcTreeNode *occupancyNode, const float &update) const

void	useBBXLimit (bool enable)

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

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

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from octomap::OcTreeBaseImpl< RtabmapColorOcTreeNode, 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

void	clear ()

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

OcTreeKey	coordToKey (double x, double y, double z) const

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const

key_type	coordToKey (double coordinate) const

key_type	coordToKey (double coordinate, unsigned depth) const

OcTreeKey	coordToKey (const point3d &coord) const

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

RtabmapColorOcTreeNode *	createNodeChild (RtabmapColorOcTreeNode *node, unsigned int childIdx)

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 (RtabmapColorOcTreeNode *node, unsigned int childIdx)

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 (RtabmapColorOcTreeNode *node)

virtual void	getMetricMax (double &x, double &y, double &z)

void	getMetricMax (double &x, double &y, double &z) const

virtual void	getMetricMin (double &x, double &y, double &z)

void	getMetricMin (double &x, double &y, double &z) const

virtual void	getMetricSize (double &x, double &y, double &z)

virtual void	getMetricSize (double &x, double &y, double &z) const

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

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

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const

double	getResolution () const

RtabmapColorOcTreeNode *	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

virtual bool	isNodeCollapsible (const RtabmapColorOcTreeNode *node) const

point3d	keyToCoord (const OcTreeKey &key) const

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

double	keyToCoord (key_type key) const

double	keyToCoord (key_type key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

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

bool	nodeHasChildren (const RtabmapColorOcTreeNode *node) const

	OcTreeBaseImpl (const OcTreeBaseImpl< RtabmapColorOcTreeNode, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

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

virtual void	prune ()

virtual bool	pruneNode (RtabmapColorOcTreeNode *node)

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

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

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

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

void	setResolution (double r)

virtual size_t	size () const

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

double	volume ()

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

virtual	~OcTreeBaseImpl ()

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

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

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

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

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

void	updateInnerOccupancyRecurs (RtabmapColorOcTreeNode *node, unsigned int depth)

RtabmapColorOcTreeNode *	updateNodeRecurs (RtabmapColorOcTreeNode *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< RtabmapColorOcTreeNode, AbstractOccupancyOcTree >
void	allocNodeChildren (RtabmapColorOcTreeNode *node)

void	calcMinMax ()

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

void	deleteNodeRecurs (RtabmapColorOcTreeNode *node)

bool	deleteNodeRecurs (RtabmapColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (RtabmapColorOcTreeNode *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const RtabmapColorOcTreeNode *parent) const

void	init ()

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

void	pruneRecurs (RtabmapColorOcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

std::istream &	readNodesRecurs (RtabmapColorOcTreeNode *, std::istream &s)

std::ostream &	writeNodesRecurs (const RtabmapColorOcTreeNode *, std::ostream &s) const

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

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

typedef RtabmapColorOcTreeNode	NodeType

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

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys

bool	use_bbx_limit

bool	use_change_detection

Protected Attributes inherited from octomap::OcTreeBaseImpl< RtabmapColorOcTreeNode, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]

double	min_value [3]

double	resolution

double	resolution_factor

RtabmapColorOcTreeNode *	root

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Detailed Description

Definition at line 86 of file OctoMap.h.

Constructor & Destructor Documentation

◆ RtabmapColorOcTree()

rtabmap::RtabmapColorOcTree::RtabmapColorOcTree ( double resolution )

Default constructor, sets resolution of leafs.

Definition at line 126 of file OctoMap.cpp.

◆ ~RtabmapColorOcTree()

virtual rtabmap::RtabmapColorOcTree::~RtabmapColorOcTree ( )

inlinevirtual

Definition at line 91 of file OctoMap.h.

Member Function Documentation

◆ averageNodeColor() [1/2]

RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::averageNodeColor	(	const octomap::OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 191 of file OctoMap.cpp.

◆ averageNodeColor() [2/2]

RtabmapColorOcTreeNode* rtabmap::RtabmapColorOcTree::averageNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 125 of file OctoMap.h.

◆ create()

RtabmapColorOcTree* rtabmap::RtabmapColorOcTree::create ( ) const

inline

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

Definition at line 95 of file OctoMap.h.

◆ getTreeType()

std::string rtabmap::RtabmapColorOcTree::getTreeType ( ) const

inline

Definition at line 97 of file OctoMap.h.

◆ integrateNodeColor() [1/2]

RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::integrateNodeColor	(	const octomap::OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 208 of file OctoMap.cpp.

◆ integrateNodeColor() [2/2]

RtabmapColorOcTreeNode* rtabmap::RtabmapColorOcTree::integrateNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 137 of file OctoMap.h.

◆ isNodeCollapsible()

bool rtabmap::RtabmapColorOcTree::isNodeCollapsible ( const RtabmapColorOcTreeNode * node ) const

virtual

Definition at line 167 of file OctoMap.cpp.

◆ pruneNode()

bool rtabmap::RtabmapColorOcTree::pruneNode ( RtabmapColorOcTreeNode * 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

Definition at line 142 of file OctoMap.cpp.

◆ setNodeColor() [1/2]

RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::setNodeColor	(	const octomap::OcTreeKey &	key,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Definition at line 131 of file OctoMap.cpp.

◆ setNodeColor() [2/2]

RtabmapColorOcTreeNode* rtabmap::RtabmapColorOcTree::setNodeColor	(	float	x,
		float	y,
		float	z,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

inline

Definition at line 113 of file OctoMap.h.

◆ updateInnerOccupancy()

void rtabmap::RtabmapColorOcTree::updateInnerOccupancy ( )

Definition at line 233 of file OctoMap.cpp.

◆ updateInnerOccupancyRecurs()

void rtabmap::RtabmapColorOcTree::updateInnerOccupancyRecurs	(	RtabmapColorOcTreeNode *	node,
		unsigned int	depth
	)

protected

Definition at line 237 of file OctoMap.cpp.

Member Data Documentation

◆ RtabmapColorOcTreeMemberInit

RtabmapColorOcTree::StaticMemberInitializer rtabmap::RtabmapColorOcTree::RtabmapColorOcTreeMemberInit

staticprotected

static member to ensure static initialization (only once)

Definition at line 170 of file OctoMap.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

◆ RtabmapColorOcTree()

◆ ~RtabmapColorOcTree()

Member Function Documentation

◆ averageNodeColor() [1/2]

◆ averageNodeColor() [2/2]

◆ create()

◆ getTreeType()

◆ integrateNodeColor() [1/2]

◆ integrateNodeColor() [2/2]

◆ isNodeCollapsible()

◆ pruneNode()

◆ setNodeColor() [1/2]

◆ setNodeColor() [2/2]

◆ updateInnerOccupancy()

◆ updateInnerOccupancyRecurs()

Member Data Documentation

◆ RtabmapColorOcTreeMemberInit