Public Member Functions | Private Member Functions | Private Attributes | List of all members
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, std::vector< int > *frontierIndices=0, std::vector< double > *cloudProb=0) 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 RtabmapColorOcTreeoctree () const
 
void setMaxRange (float value)
 
void setRayTracing (bool enabled)
 
bool update (const std::map< int, Transform > &poses)
 
bool writeBinary (const std::string &path)
 
virtual ~OctoMap ()
 

Private Member Functions

void updateMinMax (const octomap::point3d &point)
 

Private Attributes

std::map< int, TransformaddedNodes_
 
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_
 
double maxValues_ [3]
 
double minValues_ [3]
 
RtabmapColorOcTreeoctree_
 
float rangeMax_
 
bool rayTracing_
 
float updateError_
 

Detailed Description

Definition at line 170 of file OctoMap.h.

Constructor & Destructor Documentation

rtabmap::OctoMap::OctoMap ( const ParametersMap parameters)

Definition at line 271 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 315 of file OctoMap.cpp.

rtabmap::OctoMap::~OctoMap ( )
virtual

Definition at line 330 of file OctoMap.cpp.

Member Function Documentation

const std::map<int, Transform>& rtabmap::OctoMap::addedNodes ( ) const
inline

Definition at line 175 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 348 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 363 of file OctoMap.cpp.

void rtabmap::OctoMap::clear ( )

Definition at line 336 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,
std::vector< int > *  frontierIndices = 0,
std::vector< double > *  cloudProb = 0 
) const

Definition at line 890 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 1053 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.

const RtabmapColorOcTree* rtabmap::OctoMap::octree ( ) const
inline

Definition at line 187 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.

bool rtabmap::OctoMap::update ( const std::map< int, Transform > &  poses)

Definition at line 382 of file OctoMap.cpp.

void rtabmap::OctoMap::updateMinMax ( const octomap::point3d point)
private

Definition at line 862 of file OctoMap.cpp.

bool rtabmap::OctoMap::writeBinary ( const std::string &  path)

Definition at line 1107 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 227 of file OctoMap.h.

bool rtabmap::OctoMap::hasColor_
private

Definition at line 226 of file OctoMap.h.

double rtabmap::OctoMap::maxValues_[3]
private

Definition at line 232 of file OctoMap.h.

double rtabmap::OctoMap::minValues_[3]
private

Definition at line 231 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 229 of file OctoMap.h.

bool rtabmap::OctoMap::rayTracing_
private

Definition at line 230 of file OctoMap.h.

float rtabmap::OctoMap::updateError_
private

Definition at line 228 of file OctoMap.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:09