#include <OccupancyOcTreeBase.h>
Inheritance diagram for octomap::OccupancyOcTreeBase< NODE >:
Public Member Functions | |
| bool | bbxSet () const |
| virtual bool | castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
| KeyBoolMap::const_iterator | changedKeysBegin () const |
| KeyBoolMap::const_iterator | changedKeysEnd () const |
| Iterator to traverse all keys of changed nodes. More... | |
| void | computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
| void | computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange) |
| void | enableChangeDetection (bool enable) |
| track or ignore changes while inserting scans (default: ignore) More... | |
| point3d | getBBXBounds () const |
| point3d | getBBXCenter () const |
| point3d | getBBXMax () const |
| point3d | getBBXMin () const |
| bool | getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const |
| virtual bool | getRayIntersection (const point3d &origin, const point3d &direction, const point3d ¢er, point3d &intersection, double delta=0.0) const |
| bool | inBBX (const OcTreeKey &key) const |
| bool | inBBX (const point3d &p) const |
| virtual void | insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false) |
| virtual void | insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false) |
| virtual bool | insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false) |
| virtual void | integrateHit (NODE *occupancyNode) const |
| integrate a "hit" measurement according to the tree's sensor model More... | |
| virtual void | integrateMiss (NODE *occupancyNode) const |
| integrate a "miss" measurement according to the tree's sensor model More... | |
| bool | isChangeDetectionEnabled () const |
| virtual void | nodeToMaxLikelihood (NODE &occupancyNode) const |
| converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More... | |
| virtual void | nodeToMaxLikelihood (NODE *occupancyNode) const |
| converts the node to the maximum likelihood value according to the tree's parameter for "occupancy" More... | |
| size_t | numChangesDetected () const |
| Number of changes since last reset. More... | |
| OccupancyOcTreeBase (const OccupancyOcTreeBase< NODE > &rhs) | |
| Copy constructor. More... | |
| OccupancyOcTreeBase (double resolution) | |
| Default constructor, sets resolution of leafs. More... | |
| std::istream & | readBinaryData (std::istream &s) |
| std::istream & | readBinaryNode (std::istream &s, NODE *node) |
| void | resetChangeDetection () |
| Reset the set of changed keys. Call this after you obtained all changed nodes. More... | |
| void | setBBXMax (const point3d &max) |
| sets the maximum for a query bounding box to use More... | |
| void | setBBXMin (const point3d &min) |
| sets the minimum for a query bounding box to use More... | |
| virtual NODE * | setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false) |
| virtual NODE * | setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false) |
| virtual NODE * | setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false) |
| virtual void | toMaxLikelihood () |
| void | updateInnerOccupancy () |
| virtual NODE * | updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false) |
| virtual NODE * | updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false) |
| virtual NODE * | updateNode (const point3d &value, bool occupied, bool lazy_eval=false) |
| virtual NODE * | updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false) |
| virtual NODE * | updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false) |
| virtual NODE * | updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false) |
| virtual void | updateNodeLogOdds (NODE *occupancyNode, const float &update) const |
| update logodds value of node by adding to the current value. More... | |
| void | useBBXLimit (bool enable) |
| use or ignore BBX limit (default: ignore) More... | |
| std::ostream & | writeBinaryData (std::ostream &s) const |
| std::ostream & | writeBinaryNode (std::ostream &s, const NODE *node) const |
| virtual | ~OccupancyOcTreeBase () |
 Public Member Functions inherited from octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| key_type | adjustKeyAtDepth (key_type key, unsigned int depth) const |
| iterator | begin (unsigned char maxDepth=0) const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. More... | |
| void | clear () |
| Deletes the complete tree structure. More... | |
| void | clearKeyRays () |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| key_type | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. More... | |
| key_type | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. More... | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
| bool | coordToKeyChecked (double coordinate, key_type &key) const |
| bool | coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const |
| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
| NODE * | createNodeChild (NODE *node, unsigned int childIdx) |
| Creates (allocates) the i-th child of the node. More... | |
| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
| bool | deleteNode (const point3d &value, unsigned int depth=0) |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| void | deleteNodeChild (NODE *node, unsigned int childIdx) |
| Deletes the i-th child of the node. More... | |
| const iterator | end () const |
| const leaf_iterator | end_leafs () const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| const tree_iterator | end_tree () const |
| virtual void | expand () |
| virtual void | expandNode (NODE *node) |
| virtual void | getMetricMax (double &x, double &y, double &z) |
| maximum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMax (double &x, double &y, double &z) const |
| maximum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMin (double &x, double &y, double &z) const |
| minimum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| const NODE * | getNodeChild (const NODE *node, unsigned int childIdx) const |
| NODE * | getNodeChild (NODE *node, unsigned int childIdx) const |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. More... | |
| double | getResolution () const |
| NODE * | getRoot () const |
| unsigned int | getTreeDepth () const |
| std::string | getTreeType () const |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
| virtual bool | isNodeCollapsible (const NODE *node) const |
| point3d | keyToCoord (const OcTreeKey &key) const |
| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| double | keyToCoord (key_type key) const |
| double | keyToCoord (key_type key, unsigned depth) const |
| unsigned long long | memoryFullGrid () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| bool | nodeChildExists (const NODE *node, unsigned int childIdx) const |
| bool | nodeHasChildren (const NODE *node) const |
| OcTreeBaseImpl (const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &rhs) | |
| Deep copy constructor. More... | |
| OcTreeBaseImpl (double resolution) | |
| bool | operator== (const OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &rhs) const |
| virtual void | prune () |
| virtual bool | pruneNode (NODE *node) |
| std::istream & | readData (std::istream &s) |
| NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
| NODE * | search (const point3d &value, unsigned int depth=0) const |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| void | setResolution (double r) |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > &rhs) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| virtual | ~OcTreeBaseImpl () |
| Public Member Functions inherited from octomap::AbstractOccupancyOcTree | |
| AbstractOccupancyOcTree () | |
| double | getClampingThresMax () const |
| float | getClampingThresMaxLog () const |
| double | getClampingThresMin () const |
| float | getClampingThresMinLog () const |
| double | getOccupancyThres () const |
| float | getOccupancyThresLog () const |
| double | getProbHit () const |
| float | getProbHitLog () const |
| double | getProbMiss () const |
| float | getProbMissLog () const |
| bool | isNodeAtThreshold (const OcTreeNode &occupancyNode) const |
| queries whether a node is at the clamping threshold according to the tree's parameter More... | |
| bool | isNodeAtThreshold (const OcTreeNode *occupancyNode) const |
| queries whether a node is at the clamping threshold according to the tree's parameter More... | |
| bool | isNodeOccupied (const OcTreeNode &occupancyNode) const |
| queries whether a node is occupied according to the tree's parameter for "occupancy" More... | |
| bool | isNodeOccupied (const OcTreeNode *occupancyNode) const |
| queries whether a node is occupied according to the tree's parameter for "occupancy" More... | |
| bool | readBinary (const std::string &filename) |
| bool | readBinary (std::istream &s) |
| void | setClampingThresMax (double thresProb) |
| sets the maximum threshold for occupancy clamping (sensor model) More... | |
| void | setClampingThresMin (double thresProb) |
| sets the minimum threshold for occupancy clamping (sensor model) More... | |
| void | setOccupancyThres (double prob) |
| sets the threshold for occupancy (sensor model) More... | |
| void | setProbHit (double prob) |
| sets the probability for a "hit" (will be converted to logodds) - sensor model More... | |
| void | setProbMiss (double prob) |
| sets the probability for a "miss" (will be converted to logodds) - sensor model More... | |
| bool | writeBinary (const std::string &filename) |
| bool | writeBinary (std::ostream &s) |
| bool | writeBinaryConst (const std::string &filename) const |
| bool | writeBinaryConst (std::ostream &s) const |
| virtual | ~AbstractOccupancyOcTree () |
| Public Member Functions inherited from octomap::AbstractOcTree | |
| AbstractOcTree () | |
| virtual AbstractOcTree * | create () const =0 |
| virtual constructor: creates a new object of same type More... | |
| virtual double | getResolution () const =0 |
| virtual std::string | getTreeType () const =0 |
| returns actual class name as string for identification More... | |
| virtual size_t | memoryUsage () const =0 |
| virtual size_t | memoryUsageNode () const =0 |
| virtual size_t | size () const =0 |
| bool | write (const std::string &filename) const |
| Write file header and complete tree to file (serialization) More... | |
| bool | write (std::ostream &s) const |
| Write file header and complete tree to stream (serialization) More... | |
| virtual | ~AbstractOcTree () |
Protected Member Functions | |
| bool | integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false) |
| OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| NODE * | setNodeValueRecurs (NODE *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false) |
| void | toMaxLikelihoodRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| void | updateInnerOccupancyRecurs (NODE *node, unsigned int depth) |
| NODE * | updateNodeRecurs (NODE *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false) |
| Protected Member Functions inherited from octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > | |
| void | allocNodeChildren (NODE *node) |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
| void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
| void | deleteNodeRecurs (NODE *node) |
| bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() More... | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() More... | |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors More... | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() More... | |
| std::istream & | readNodesRecurs (NODE *, std::istream &s) |
| recursive call of readData() More... | |
| std::ostream & | writeNodesRecurs (const NODE *, std::ostream &s) const |
| recursive call of writeData() More... | |
| Protected Member Functions inherited from octomap::AbstractOccupancyOcTree | |
| bool | readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res) |
| Try to read the old binary format for conversion, will be removed in the future. More... | |
Protected Attributes | |
| point3d | bbx_max |
| OcTreeKey | bbx_max_key |
| point3d | bbx_min |
| OcTreeKey | bbx_min_key |
| KeyBoolMap | changed_keys |
| Set of leaf keys (lowest level) which changed since last resetChangeDetection. More... | |
| bool | use_bbx_limit |
| use bounding box for queries (needs to be set)? More... | |
| bool | use_change_detection |
| Protected Attributes inherited from octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading More... | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z More... | |
| double | min_value [3] |
| double | resolution |
| in meters More... | |
| double | resolution_factor |
| = 1. / resolution More... | |
| NODE * | root |
| Pointer to the root NODE, NULL for empty tree. More... | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. More... | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
| Protected Attributes inherited from octomap::AbstractOccupancyOcTree | |
| float | clamping_thres_max |
| float | clamping_thres_min |
| float | occ_prob_thres_log |
| float | prob_hit_log |
| float | prob_miss_log |
Additional Inherited Members | |
| Public Types inherited from octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree > | |
| typedef leaf_iterator | iterator |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. More... | |
| Static Public Member Functions inherited from octomap::AbstractOcTree | |
| static AbstractOcTree * | createTree (const std::string id, double res) |
| static AbstractOcTree * | read (const std::string &filename) |
| static AbstractOcTree * | read (std::istream &s) |
| Static Protected Member Functions inherited from octomap::AbstractOcTree | |
| static bool | readHeader (std::istream &s, std::string &id, unsigned &size, double &res) |
| static void | registerTreeType (AbstractOcTree *tree) |
| Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree | |
| static const std::string | binaryFileHeader = "# Octomap OcTree binary file" |
| Static Protected Attributes inherited from octomap::AbstractOcTree | |
| static const std::string | fileHeader = "# Octomap OcTree file" |
Detailed Description
template<class NODE>
class octomap::OccupancyOcTreeBase< NODE >
Base implementation for Occupancy Octrees (e.g. for mapping). AbstractOccupancyOcTree serves as a common base interface for all these classes. Each class used as NODE type needs to be derived from OccupancyOcTreeNode.
This tree implementation has a maximum depth of 16. At a resolution of 1 cm, values have to be < +/- 327.68 meters (2^15)
This limitation enables the use of an efficient key generation method which uses the binary representation of the data.
- Note
- The tree does not save individual points.
- Template Parameters
-
NODE Node class to be used in tree (usually derived from OcTreeDataNode)
Definition at line 69 of file OccupancyOcTreeBase.h.
Constructor & Destructor Documentation
◆ OccupancyOcTreeBase() [1/3]
template<class NODE >
| octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase | ( | double | resolution | ) |
Default constructor, sets resolution of leafs.
◆ ~OccupancyOcTreeBase()
template<class NODE >
|
virtual |
◆ OccupancyOcTreeBase() [2/3]
template<class NODE >
| octomap::OccupancyOcTreeBase< NODE >::OccupancyOcTreeBase | ( | const OccupancyOcTreeBase< NODE > & | rhs | ) |
Copy constructor.
◆ OccupancyOcTreeBase() [3/3]
template<class NODE >
|
protected |
Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!
Member Function Documentation
◆ bbxSet()
template<class NODE >
|
inline |
Definition at line 335 of file OccupancyOcTreeBase.h.
◆ castRay()
template<class NODE >
|
virtual |
Performs raycasting in 3d, similar to computeRay(). Can be called in parallel e.g. with OpenMP for a speedup.
A ray is cast from 'origin' with a given direction, the first non-free cell is returned in 'end' (as center coordinate). This could also be the origin node if it is occupied or unknown. castRay() returns true if an occupied node was hit by the raycast. If the raycast returns false you can search() the node at 'end' and see whether it's unknown space.
- Parameters
-
[in] origin starting coordinate of ray [in] direction A vector pointing in the direction of the raycast (NOT a point in space). Does not need to be normalized. [out] end returns the center of the last cell on the ray. If the function returns true, it is occupied. [in] ignoreUnknownCells whether unknown cells are ignored (= treated as free). If false (default), the raycast aborts when an unknown cell is hit and returns false. [in] maxRange Maximum range after which the raycast is aborted (<= 0: no limit, default)
- Returns
- true if an occupied cell was hit, false if the maximum range or octree bounds are reached, or if an unknown node was hit.
◆ changedKeysBegin()
template<class NODE >
|
inline |
Iterator to traverse all keys of changed nodes. you need to enableChangeDetection() first. Here, an OcTreeKey always refers to a node at the lowest tree level (its size is the minimum tree resolution)
Definition at line 363 of file OccupancyOcTreeBase.h.
◆ changedKeysEnd()
template<class NODE >
|
inline |
Iterator to traverse all keys of changed nodes.
Definition at line 366 of file OccupancyOcTreeBase.h.
◆ computeDiscreteUpdate()
template<class NODE >
| void octomap::OccupancyOcTreeBase< NODE >::computeDiscreteUpdate | ( | const Pointcloud & | scan, |
| const octomap::point3d & | origin, | ||
| KeySet & | free_cells, | ||
| KeySet & | occupied_cells, | ||
| double | maxrange | ||
| ) |
Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones. This function first discretizes the scan with the octree grid, which results in fewer raycasts (=speedup) but a slightly different result than computeUpdate().
- Parameters
-
scan point cloud measurement to be integrated origin origin of the sensor for ray casting free_cells keys of nodes to be cleared occupied_cells keys of nodes to be marked occupied maxrange maximum range for raycasting (-1: unlimited)
◆ computeUpdate()
template<class NODE >
| void octomap::OccupancyOcTreeBase< NODE >::computeUpdate | ( | const Pointcloud & | scan, |
| const octomap::point3d & | origin, | ||
| KeySet & | free_cells, | ||
| KeySet & | occupied_cells, | ||
| double | maxrange | ||
| ) |
Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud integration at once. Here, occupied nodes have a preference over free ones.
- Parameters
-
scan point cloud measurement to be integrated origin origin of the sensor for ray casting free_cells keys of nodes to be cleared occupied_cells keys of nodes to be marked occupied maxrange maximum range for raycasting (-1: unlimited)
◆ enableChangeDetection()
template<class NODE >
|
inline |
track or ignore changes while inserting scans (default: ignore)
Definition at line 353 of file OccupancyOcTreeBase.h.
◆ getBBXBounds()
template<class NODE >
| point3d octomap::OccupancyOcTreeBase< NODE >::getBBXBounds | ( | ) | const |
◆ getBBXCenter()
template<class NODE >
| point3d octomap::OccupancyOcTreeBase< NODE >::getBBXCenter | ( | ) | const |
◆ getBBXMax()
template<class NODE >
|
inline |
- Returns
- the currently set maximum for bounding box queries, if set
Definition at line 343 of file OccupancyOcTreeBase.h.
◆ getBBXMin()
template<class NODE >
|
inline |
- Returns
- the currently set minimum for bounding box queries, if set
Definition at line 341 of file OccupancyOcTreeBase.h.
◆ getNormals()
template<class NODE >
| bool octomap::OccupancyOcTreeBase< NODE >::getNormals | ( | const point3d & | point, |
| std::vector< point3d > & | normals, | ||
| bool | unknownStatus = true |
||
| ) | const |
Performs a step of the marching cubes surface reconstruction algorithm to retrieve the normal of the triangles that fall in the cube formed by the voxels located at the vertex of a given voxel.
- Parameters
-
[in] point voxel for which retrieve the normals [out] normals normals of the triangles [in] unknownStatus consider unknown cells as free (false) or occupied (default, true).
- Returns
- True if the input voxel is known in the occupancy grid, and false if it is unknown.
◆ getRayIntersection()
template<class NODE >
|
virtual |
Retrieves the entry point of a ray into a voxel. This is the closest intersection point of the ray originating from origin and a plane of the axis aligned cube.
- Parameters
-
[in] origin Starting point of ray [in] direction A vector pointing in the direction of the raycast. Does not need to be normalized. [in] center The center of the voxel where the ray terminated. This is the output of castRay. [out] intersection The entry point of the ray into the voxel, on the voxel surface. [in] delta A small increment to avoid ambiguity of beeing exactly on a voxel surface. A positive value will get the point out of the hit voxel, while a negative valuewill get it inside.
- Returns
- Whether or not an intesection point has been found. Either, the ray never cross the voxel or the ray is exactly parallel to the only surface it intersect.
◆ inBBX() [1/2]
template<class NODE >
| bool octomap::OccupancyOcTreeBase< NODE >::inBBX | ( | const OcTreeKey & | key | ) | const |
- Returns
- true if key is in the currently set bounding box
◆ inBBX() [2/2]
template<class NODE >
| bool octomap::OccupancyOcTreeBase< NODE >::inBBX | ( | const point3d & | p | ) | const |
- Returns
- true if point is in the currently set bounding box
◆ insertPointCloud() [1/3]
template<class NODE >
|
virtual |
Integrate a Pointcloud (in global reference frame), parallelized with OpenMP. Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().
- Note
- replaces insertScan()
- Parameters
-
scan Pointcloud (measurement endpoints), in global reference frame sensor_origin measurement origin in global reference frame maxrange maximum range for how long individual beams are inserted (default -1: complete beam) lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done. discretize whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*
◆ insertPointCloud() [2/3]
template<class NODE >
|
virtual |
Integrate a 3d scan (transform scan before tree update), parallelized with OpenMP. Special care is taken that each voxel in the map is updated only once, and occupied nodes have a preference over free ones. This avoids holes in the floor from mutual deletion and is more efficient than the plain ray insertion in insertPointCloudRays().
- Note
- replaces insertScan()
- Parameters
-
scan Pointcloud (measurement endpoints) relative to frame origin sensor_origin origin of sensor relative to frame origin frame_origin origin of reference frame, determines transform to be applied to cloud and sensor origin maxrange maximum range for how long individual beams are inserted (default -1: complete beam) lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done. discretize whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.*
◆ insertPointCloud() [3/3]
template<class NODE >
|
virtual |
Insert a 3d scan (given as a ScanNode) into the tree, parallelized with OpenMP.
- Note
- replaces insertScan
- Parameters
-
scan ScanNode contains Pointcloud data and frame/sensor origin maxrange maximum range for how long individual beams are inserted (default -1: complete beam) lazy_eval whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call updateInnerOccupancy() when done. discretize whether the scan is discretized first into octree key cells (default: false). This reduces the number of raycasts using computeDiscreteUpdate(), resulting in a potential speedup.
◆ insertPointCloudRays()
template<class NODE >
|
virtual |
Integrate a Pointcloud (in global reference frame), parallelized with OpenMP. This function simply inserts all rays of the point clouds as batch operation. Discretization effects can lead to the deletion of occupied space, it is usually recommended to use insertPointCloud() instead.
- Parameters
-
scan Pointcloud (measurement endpoints), in global reference frame sensor_origin measurement origin in global reference frame maxrange maximum range for how long individual beams are inserted (default -1: complete beam) lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
◆ insertRay()
template<class NODE >
|
virtual |
Insert one ray between origin and end into the tree. integrateMissOnRay() is called for the ray, the end point is updated as occupied. It is usually more efficient to insert complete pointcloudsm with insertPointCloud() or insertPointCloudRays().
- Parameters
-
origin origin of sensor in global coordinates end endpoint of measurement in global coordinates maxrange maximum range after which the raycast should be aborted lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- success of operation
◆ integrateHit()
template<class NODE >
|
virtual |
integrate a "hit" measurement according to the tree's sensor model
◆ integrateMiss()
template<class NODE >
|
virtual |
integrate a "miss" measurement according to the tree's sensor model
◆ integrateMissOnRay()
template<class NODE >
|
inlineprotected |
Traces a ray from origin to end and updates all voxels on the way as free. The volume containing "end" is not updated.
◆ isChangeDetectionEnabled()
template<class NODE >
|
inline |
Definition at line 354 of file OccupancyOcTreeBase.h.
◆ nodeToMaxLikelihood() [1/2]
template<class NODE >
|
virtual |
converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
◆ nodeToMaxLikelihood() [2/2]
template<class NODE >
|
virtual |
converts the node to the maximum likelihood value according to the tree's parameter for "occupancy"
◆ numChangesDetected()
template<class NODE >
|
inline |
Number of changes since last reset.
Definition at line 369 of file OccupancyOcTreeBase.h.
◆ readBinaryData()
template<class NODE >
|
virtual |
Reads only the data (=complete tree structure) from the input stream. The tree needs to be constructed with the proper header information beforehand, see readBinary().
Implements octomap::AbstractOccupancyOcTree.
◆ readBinaryNode()
template<class NODE >
| std::istream& octomap::OccupancyOcTreeBase< NODE >::readBinaryNode | ( | std::istream & | s, |
| NODE * | node | ||
| ) |
Read node from binary stream (max-likelihood value), recursively continue with all children.
This will set the log_odds_occupancy value of all leaves to either free or occupied.
◆ resetChangeDetection()
template<class NODE >
|
inline |
Reset the set of changed keys. Call this after you obtained all changed nodes.
Definition at line 356 of file OccupancyOcTreeBase.h.
◆ setBBXMax()
template<class NODE >
| void octomap::OccupancyOcTreeBase< NODE >::setBBXMax | ( | const point3d & | max | ) |
sets the maximum for a query bounding box to use
◆ setBBXMin()
template<class NODE >
| void octomap::OccupancyOcTreeBase< NODE >::setBBXMin | ( | const point3d & | min | ) |
sets the minimum for a query bounding box to use
◆ setNodeValue() [1/3]
template<class NODE >
|
virtual |
Set log_odds value of voxel to log_odds_value. This only works if key is at the lowest octree level
- Parameters
-
key OcTreeKey of the NODE that is to be updated log_odds_value value to be set as the log_odds value of the node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
◆ setNodeValue() [2/3]
template<class NODE >
|
virtual |
Set log_odds value of voxel to log_odds_value. Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.
- Parameters
-
value 3d coordinate of the NODE that is to be updated log_odds_value value to be set as the log_odds value of the node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
◆ setNodeValue() [3/3]
template<class NODE >
|
virtual |
Set log_odds value of voxel to log_odds_value. Looks up the OcTreeKey corresponding to the coordinate and then calls setNodeValue() with it.
- Parameters
-
x y z log_odds_value value to be set as the log_odds value of the node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
◆ setNodeValueRecurs()
template<class NODE >
|
protected |
◆ toMaxLikelihood()
template<class NODE >
|
virtual |
Creates the maximum likelihood map by calling toMaxLikelihood on all tree nodes, setting their occupancy to the corresponding occupancy thresholds. This enables a very efficient compression if you call prune() afterwards.
Implements octomap::AbstractOccupancyOcTree.
◆ toMaxLikelihoodRecurs()
template<class NODE >
|
protected |
◆ updateInnerOccupancy()
template<class NODE >
| void octomap::OccupancyOcTreeBase< NODE >::updateInnerOccupancy | ( | ) |
Updates the occupancy of all inner nodes to reflect their children's occupancy. If you performed batch-updates with lazy evaluation enabled, you must call this before any queries to ensure correct multi-resolution behavior.
◆ updateInnerOccupancyRecurs()
template<class NODE >
|
protected |
◆ updateNode() [1/6]
template<class NODE >
|
virtual |
Integrate occupancy measurement.
- Parameters
-
key OcTreeKey of the NODE that is to be updated occupied true if the node was measured occupied, else false lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
Implements octomap::AbstractOccupancyOcTree.
◆ updateNode() [2/6]
template<class NODE >
|
virtual |
Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). This only works if key is at the lowest octree level
- Parameters
-
key OcTreeKey of the NODE that is to be updated log_odds_update value to be added (+) to log_odds value of node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
Implements octomap::AbstractOccupancyOcTree.
◆ updateNode() [3/6]
template<class NODE >
|
virtual |
Integrate occupancy measurement. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.
- Parameters
-
value 3d coordinate of the NODE that is to be updated occupied true if the node was measured occupied, else false lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
Implements octomap::AbstractOccupancyOcTree.
◆ updateNode() [4/6]
template<class NODE >
|
virtual |
Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.
- Parameters
-
value 3d coordinate of the NODE that is to be updated log_odds_update value to be added (+) to log_odds value of node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
Implements octomap::AbstractOccupancyOcTree.
◆ updateNode() [5/6]
template<class NODE >
|
virtual |
Integrate occupancy measurement. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.
- Parameters
-
x y z occupied true if the node was measured occupied, else false lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
◆ updateNode() [6/6]
template<class NODE >
|
virtual |
Manipulate log_odds value of a voxel by changing it by log_odds_update (relative). Looks up the OcTreeKey corresponding to the coordinate and then calls updateNode() with it.
- Parameters
-
x y z log_odds_update value to be added (+) to log_odds value of node lazy_eval whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.
- Returns
- pointer to the updated NODE
◆ updateNodeLogOdds()
template<class NODE >
|
virtual |
update logodds value of node by adding to the current value.
Reimplemented in octomap::OcTreeStamped.
◆ updateNodeRecurs()
template<class NODE >
|
protected |
◆ useBBXLimit()
template<class NODE >
|
inline |
use or ignore BBX limit (default: ignore)
Definition at line 334 of file OccupancyOcTreeBase.h.
◆ writeBinaryData()
template<class NODE >
|
virtual |
Writes the data of the tree (without header) to the stream, recursively calling writeBinaryNode (starting with root)
Implements octomap::AbstractOccupancyOcTree.
◆ writeBinaryNode()
template<class NODE >
| std::ostream& octomap::OccupancyOcTreeBase< NODE >::writeBinaryNode | ( | std::ostream & | s, |
| const NODE * | node | ||
| ) | const |
Write node to binary stream (max-likelihood value), recursively continue with all children.
This will discard the log_odds_occupancy value, writing all leaves as either free or occupied.
- Parameters
-
s node OcTreeNode to write out, will recurse to all children
- Returns
Member Data Documentation
◆ bbx_max
template<class NODE >
|
protected |
Definition at line 493 of file OccupancyOcTreeBase.h.
◆ bbx_max_key
template<class NODE >
|
protected |
Definition at line 495 of file OccupancyOcTreeBase.h.
◆ bbx_min
template<class NODE >
|
protected |
Definition at line 492 of file OccupancyOcTreeBase.h.
◆ bbx_min_key
template<class NODE >
|
protected |
Definition at line 494 of file OccupancyOcTreeBase.h.
◆ changed_keys
template<class NODE >
|
protected |
Set of leaf keys (lowest level) which changed since last resetChangeDetection.
Definition at line 499 of file OccupancyOcTreeBase.h.
◆ use_bbx_limit
template<class NODE >
|
protected |
use bounding box for queries (needs to be set)?
Definition at line 491 of file OccupancyOcTreeBase.h.
◆ use_change_detection
template<class NODE >
|
protected |
Definition at line 497 of file OccupancyOcTreeBase.h.
The documentation for this class was generated from the following file: