#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=ParametersMap())

const RtabmapColorOcTree *	octree () 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 ()

Static Public Member Functions
static octomap::point3d	findCloseEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

static std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash >	findEmptyNode (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

static void	floodFill (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > &EmptyNodes, std::queue< octomap::point3d > &positionToExplore)

static bool	isNodeVisited (std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const &EmptyNodes, octomap::OcTreeKey const key)

static bool	isValidEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

Private Member Functions
void	updateMinMax (const octomap::point3d &point)

Private Attributes
std::map< int, Transform >	addedNodes_

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_

unsigned int	emptyFloodFillDepth_

bool	fullUpdate_

bool	hasColor_

double	maxValues_ [3]

double	minValues_ [3]

RtabmapColorOcTree *	octree_

float	rangeMax_

bool	rayTracing_

float	updateError_

Detailed Description

Definition at line 174 of file OctoMap.h.

Constructor & Destructor Documentation

◆ OctoMap()

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

Definition at line 291 of file OctoMap.cpp.

◆ ~OctoMap()

rtabmap::OctoMap::~OctoMap ( )

virtual

Definition at line 345 of file OctoMap.cpp.

Member Function Documentation

◆ addedNodes()

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

inline

Definition at line 178 of file OctoMap.h.

◆ addToCache() [1/2]

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 363 of file OctoMap.cpp.

◆ addToCache() [2/2]

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 378 of file OctoMap.cpp.

◆ clear()

void rtabmap::OctoMap::clear ( )

Definition at line 351 of file OctoMap.cpp.

◆ createCloud()

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 1054 of file OctoMap.cpp.

◆ createProjectionMap()

cv::Mat rtabmap::OctoMap::createProjectionMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize,
		float	minGridSize = `0.0f`,
		unsigned int	treeDepth = `0`
	)

Definition at line 1218 of file OctoMap.cpp.

◆ findCloseEmpty()

octomap::point3d rtabmap::OctoMap::findCloseEmpty	(	RtabmapColorOcTree *	octree_,
		unsigned int	treeDepth,
		octomap::point3d	startPosition
	)

static

Definition at line 411 of file OctoMap.cpp.

◆ findEmptyNode()

std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > rtabmap::OctoMap::findEmptyNode	(	RtabmapColorOcTree *	octree_,
		unsigned int	treeDepth,
		octomap::point3d	startPosition
	)

static

Definition at line 494 of file OctoMap.cpp.

◆ floodFill()

void rtabmap::OctoMap::floodFill	(	RtabmapColorOcTree *	octree_,
		unsigned int	treeDepth,
		octomap::point3d	startPosition,
		std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > &	EmptyNodes,
		std::queue< octomap::point3d > &	positionToExplore
	)

static

Definition at line 474 of file OctoMap.cpp.

◆ getGridMax()

void rtabmap::OctoMap::getGridMax	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

Definition at line 214 of file OctoMap.h.

◆ getGridMin()

void rtabmap::OctoMap::getGridMin	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

Definition at line 213 of file OctoMap.h.

◆ hasColor()

bool rtabmap::OctoMap::hasColor ( ) const

inline

Definition at line 218 of file OctoMap.h.

◆ isNodeVisited()

bool rtabmap::OctoMap::isNodeVisited	(	std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const &	EmptyNodes,
		octomap::OcTreeKey const	key
	)

static

Definition at line 461 of file OctoMap.cpp.

◆ isValidEmpty()

bool rtabmap::OctoMap::isValidEmpty	(	RtabmapColorOcTree *	octree_,
		unsigned int	treeDepth,
		octomap::point3d	startPosition
	)

static

Definition at line 397 of file OctoMap.cpp.

◆ octree()

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

inline

Definition at line 190 of file OctoMap.h.

◆ setMaxRange()

void rtabmap::OctoMap::setMaxRange ( float value )

inline

Definition at line 216 of file OctoMap.h.

◆ setRayTracing()

void rtabmap::OctoMap::setRayTracing ( bool enabled )

inline

Definition at line 217 of file OctoMap.h.

◆ update()

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

Definition at line 512 of file OctoMap.cpp.

◆ updateMinMax()

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

private

Definition at line 1025 of file OctoMap.cpp.

◆ writeBinary()

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

Definition at line 1274 of file OctoMap.cpp.

Member Data Documentation

◆ addedNodes_

std::map<int, Transform> rtabmap::OctoMap::addedNodes_

private

Definition at line 234 of file OctoMap.h.

◆ cache_

std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > rtabmap::OctoMap::cache_

private

Definition at line 230 of file OctoMap.h.

◆ cacheClouds_

std::map<int, std::pair<const pcl::PointCloud<pcl::PointXYZRGB>::Ptr, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > rtabmap::OctoMap::cacheClouds_

private

Definition at line 231 of file OctoMap.h.

◆ cacheViewPoints_

std::map<int, cv::Point3f> rtabmap::OctoMap::cacheViewPoints_

private

Definition at line 232 of file OctoMap.h.

◆ emptyFloodFillDepth_

unsigned int rtabmap::OctoMap::emptyFloodFillDepth_

private

Definition at line 240 of file OctoMap.h.

◆ fullUpdate_

bool rtabmap::OctoMap::fullUpdate_

private

Definition at line 236 of file OctoMap.h.

◆ hasColor_

bool rtabmap::OctoMap::hasColor_

private

Definition at line 235 of file OctoMap.h.

◆ maxValues_

double rtabmap::OctoMap::maxValues_[3]

private

Definition at line 242 of file OctoMap.h.

◆ minValues_

double rtabmap::OctoMap::minValues_[3]

private

Definition at line 241 of file OctoMap.h.

◆ octree_

RtabmapColorOcTree* rtabmap::OctoMap::octree_

private

Definition at line 233 of file OctoMap.h.

◆ rangeMax_

float rtabmap::OctoMap::rangeMax_

private

Definition at line 238 of file OctoMap.h.

◆ rayTracing_

bool rtabmap::OctoMap::rayTracing_

private

Definition at line 239 of file OctoMap.h.

◆ updateError_

float rtabmap::OctoMap::updateError_

private

Definition at line 237 of file OctoMap.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OctoMap()

◆ ~OctoMap()

Member Function Documentation

◆ addedNodes()

◆ addToCache() [1/2]

◆ addToCache() [2/2]

◆ clear()

◆ createCloud()

◆ createProjectionMap()

◆ findCloseEmpty()

◆ findEmptyNode()

◆ floodFill()

◆ getGridMax()

◆ getGridMin()

◆ hasColor()

◆ isNodeVisited()

◆ isValidEmpty()

◆ octree()

◆ setMaxRange()

◆ setRayTracing()

◆ update()

◆ updateMinMax()

◆ writeBinary()

Member Data Documentation

◆ addedNodes_

◆ cache_

◆ cacheClouds_

◆ cacheViewPoints_

◆ emptyFloodFillDepth_

◆ fullUpdate_

◆ hasColor_

◆ maxValues_

◆ minValues_

◆ octree_

◆ rangeMax_

◆ rayTracing_

◆ updateError_