Class CColouredOctoMap

Defined in File CColouredOctoMap.h

Inheritance Relationships

Base Type

public mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode > (Template Class COctoMapBase)

Class Documentation

class CColouredOctoMap : public mrpt::maps::COctoMapBase<octomap::ColorOcTree, octomap::ColorOcTreeNode>

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the “octomap” C++ library. This version stores both, occupancy information and RGB colour data at each octree node. See the base class mrpt::maps::COctoMapBase.

The octomap library was presented in wurm2010octomap

See also

CMetricMap, the example in “MRPT/mrpt_examples_cpp/octomap_simple”

Direct access to octomap library methods

void insertRay(const float end_x, const float end_y, const float end_z, const float sensor_x, const float sensor_y, const float sensor_z): Just like insertPointCloud but with a single ray.

void updateVoxel(const double x, const double y, const double z, bool occupied): Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions

bool isPointWithinOctoMap(const float x, const float y, const float z) const: Check whether the given point lies within the volume covered by the octomap (that is, whether it is “mapped”)

double getResolution() const

unsigned int getTreeDepth() const

size_t size() const

Returns:: The number of nodes in the tree

size_t memoryUsage() const

Returns:: Memory usage of the complete octree in bytes (may vary between architectures)

size_t memoryUsageNode() const

Returns:: Memory usage of the a single octree node

size_t memoryFullGrid() const

Returns:: Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)

double volume()

void getMetricSize(double &x, double &y, double &z): Size of OcTree (all known space) in meters for x, y and z dimension.

void getMetricSize(double &x, double &y, double &z) const: Size of OcTree (all known space) in meters for x, y and z dimension.

void getMetricMin(double &x, double &y, double &z): minimum value of the bounding box of all known space in x, y, z

void getMetricMin(double &x, double &y, double &z) const: minimum value of the bounding box of all known space in x, y, z

void getMetricMax(double &x, double &y, double &z): maximum value of the bounding box of all known space in x, y, z

void getMetricMax(double &x, double &y, double &z) const: maximum value of the bounding box of all known space in x, y, z

size_t calcNumNodes() const: Traverses the tree to calculate the total number of nodes.

size_t getNumLeafNodes() const: Traverses the tree to calculate the total number of leaf nodes.

virtual void setOccupancyThres(double prob) override

virtual void setProbHit(double prob) override

virtual void setProbMiss(double prob) override

virtual void setClampingThresMin(double thresProb) override

virtual void setClampingThresMax(double thresProb) override

virtual double getOccupancyThres() const override

virtual float getOccupancyThresLog() const override

virtual double getProbHit() const override

virtual float getProbHitLog() const override

virtual double getProbMiss() const override

virtual float getProbMissLog() const override

virtual double getClampingThresMin() const override

virtual float getClampingThresMinLog() const override

virtual double getClampingThresMax() const override

virtual float getClampingThresMaxLog() const override

Public Types

enum TColourUpdate

This allows the user to select the desired method to update voxels colour. SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn’t any previous color, any method is equivalent to SET. INTEGRATE is the default option

Values:

enumerator INTEGRATE

enumerator SET

enumerator AVERAGE

Public Functions

CColouredOctoMap(const double resolution = 0.10): Default constructor.

~CColouredOctoMap() override: Destructor.

bool getPointColour(const float x, const float y, const float z, uint8_t &r, uint8_t &g, uint8_t &b) const

Get the RGB colour of a point

Returns:: false if the point is not mapped, in which case the returned colour is undefined.

void updateVoxelColour(const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b): Manually update the colour of the voxel at (x,y,z)

inline void setVoxelColourMethod(TColourUpdate new_method): Set the method used to update voxels colour.

inline TColourUpdate getVoxelColourMethod(): Get the method used to update voxels colour.

virtual void getAsOctoMapVoxels(mrpt::viz::COctoMapVoxels &gl_obj) const override

Builds a renderizable representation of the octomap as a mrpt::viz::COctoMapVoxels object.