rtabmap::RtabmapColorOcTree Class Reference

#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 ()

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

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

Detailed Description

Definition at line 87 of file global_map/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 92 of file global_map/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 126 of file global_map/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 96 of file global_map/OctoMap.h.

getTreeType()

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

inline

Definition at line 98 of file global_map/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 138 of file global_map/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 114 of file global_map/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 171 of file global_map/OctoMap.h.

---

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

• global_map/OctoMap.h
• OctoMap.cpp