Class COctoMap

Defined in File COctoMap.h

Inheritance Relationships

Base Type

public mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode > (Template Class COctoMapBase)

Class Documentation

class COctoMap : public mrpt::maps::COctoMapBase<octomap::OcTree, octomap::OcTreeNode>

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the “octomap” C++ library. This version only stores occupancy information 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 Functions

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

~COctoMap() override: Destructor.

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

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