Class ColorOcTree

Defined in File ColorOcTree.h

Nested Relationships

Nested Types

Class ColorOcTree::StaticMemberInitializer

Inheritance Relationships

Base Type

public octomap::OccupancyOcTreeBase< ColorOcTreeNode > (Template Class OccupancyOcTreeBase)

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.