#include <OctoMap.h>

Inheritance diagram for rtabmap::OctoMap:

Public Member Functions
virtual 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)

virtual unsigned long	getMemoryUsed () const

bool	hasColor () const

	OctoMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())

const RtabmapColorOcTree *	octree () const

bool	writeBinary (const std::string &path)

virtual	~OctoMap ()

Public Member Functions inherited from rtabmap::GlobalMap
const std::map< int, Transform > &	addedNodes () const

float	getCellSize () const

void	getGridMax (double &x, double &y) const

void	getGridMax (double &x, double &y, double &z) const

void	getGridMin (double &x, double &y) const

void	getGridMin (double &x, double &y, double &z) const

float	getUpdateError () const

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

virtual	~GlobalMap ()

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)

Static Public Member Functions inherited from rtabmap::GlobalMap
static float	logodds (double probability)

static double	probability (double logodds)

Protected Member Functions
virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)

Protected Member Functions inherited from rtabmap::GlobalMap
void	addAssembledNode (int id, const Transform &pose)

const std::map< int, Transform > &	assembledNodes () const

const std::map< int, LocalGrid > &	cache () const

	GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())

bool	isNodeAssembled (int id)

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

Private Attributes
unsigned int	emptyFloodFillDepth_

bool	hasColor_

RtabmapColorOcTree *	octree_

float	rangeMax_

bool	rayTracing_

Additional Inherited Members
Protected Attributes inherited from rtabmap::GlobalMap
float	cellSize_

float	logOddsClampingMax_

float	logOddsClampingMin_

float	logOddsHit_

float	logOddsMiss_

double	maxValues_ [3]

double	minValues_ [3]

float	occupancyThr_

float	updateError_

Detailed Description

Definition at line 175 of file global_map/OctoMap.h.

Constructor & Destructor Documentation

◆ OctoMap()

rtabmap::OctoMap::OctoMap	(	const LocalGridCache *	cache,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Definition at line 291 of file OctoMap.cpp.

◆ ~OctoMap()

rtabmap::OctoMap::~OctoMap ( )

virtual

Definition at line 330 of file OctoMap.cpp.

Member Function Documentation

◆ assemble()

void rtabmap::OctoMap::assemble ( const std::list< std::pair< int, Transform > > & newPoses )

protectedvirtual

Implements rtabmap::GlobalMap.

Definition at line 467 of file OctoMap.cpp.

◆ clear()

void rtabmap::OctoMap::clear ( )

virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 336 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 825 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 989 of file OctoMap.cpp.

◆ findCloseEmpty()

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

static

Definition at line 366 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 449 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 429 of file OctoMap.cpp.

◆ getMemoryUsed()

unsigned long rtabmap::OctoMap::getMemoryUsed ( ) const

virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 343 of file OctoMap.cpp.

◆ hasColor()

bool rtabmap::OctoMap::hasColor ( ) const

inline

Definition at line 203 of file global_map/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 416 of file OctoMap.cpp.

◆ isValidEmpty()

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

static

Definition at line 352 of file OctoMap.cpp.

◆ octree()

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

inline

Definition at line 179 of file global_map/OctoMap.h.

◆ updateMinMax()

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

private

Definition at line 796 of file OctoMap.cpp.

◆ writeBinary()

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

Definition at line 1045 of file OctoMap.cpp.

Member Data Documentation

◆ emptyFloodFillDepth_

unsigned int rtabmap::OctoMap::emptyFloodFillDepth_

private

Definition at line 222 of file global_map/OctoMap.h.

◆ hasColor_

bool rtabmap::OctoMap::hasColor_

private

Definition at line 219 of file global_map/OctoMap.h.

◆ octree_

RtabmapColorOcTree* rtabmap::OctoMap::octree_

private

Definition at line 218 of file global_map/OctoMap.h.

◆ rangeMax_

float rtabmap::OctoMap::rangeMax_

private

Definition at line 220 of file global_map/OctoMap.h.

◆ rayTracing_

bool rtabmap::OctoMap::rayTracing_

private

Definition at line 221 of file global_map/OctoMap.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OctoMap()

◆ ~OctoMap()

Member Function Documentation

◆ assemble()

◆ clear()

◆ createCloud()

◆ createProjectionMap()

◆ findCloseEmpty()

◆ findEmptyNode()

◆ floodFill()

◆ getMemoryUsed()

◆ hasColor()

◆ isNodeVisited()

◆ isValidEmpty()

◆ octree()

◆ updateMinMax()

◆ writeBinary()

Member Data Documentation

◆ emptyFloodFillDepth_

◆ hasColor_

◆ octree_

◆ rangeMax_

◆ rayTracing_