Class ColorOcTree

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class ColorOcTree : public octomap::OccupancyOcTreeBase<ColorOcTreeNode>

Public Functions

ColorOcTree(double resolution)

Default constructor, sets resolution of leafs.

inline ColorOcTree *create() const

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

inline std::string getTreeType() const
virtual bool pruneNode(ColorOcTreeNode *node)

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

virtual bool isNodeCollapsible(const ColorOcTreeNode *node) const
ColorOcTreeNode *setNodeColor(const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
inline ColorOcTreeNode *setNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
ColorOcTreeNode *averageNodeColor(const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
inline ColorOcTreeNode *averageNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
ColorOcTreeNode *integrateNodeColor(const OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
inline ColorOcTreeNode *integrateNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
void updateInnerOccupancy()
void writeColorHistogram(std::string filename)

Protected Functions

void updateInnerOccupancyRecurs(ColorOcTreeNode *node, unsigned int depth)

Protected Static Attributes

static StaticMemberInitializer colorOcTreeMemberInit

static member to ensure static initialization (only once)

class StaticMemberInitializer

Static member object which ensures that this OcTree’s prototype ends up in the classIDMapping only once. You need this as a static member in any derived octree class in order to read .ot files through the AbstractOcTree factory. You should also call ensureLinking() once from the constructor.

Public Functions

inline StaticMemberInitializer()
inline void ensureLinking()

Dummy function to ensure that MSVC does not drop the StaticMemberInitializer, causing this tree failing to register. Needs to be called from the constructor of this octree.