Class CVoxelMapRGB

• Defined in File CVoxelMapRGB.h

Inheritance Relationships

Base Type

• public mrpt::maps::CVoxelMapOccupancyBase< VoxelNodeOccRGB > (Template Class CVoxelMapOccupancyBase)

Class Documentation

class CVoxelMapRGB : public mrpt::maps::CVoxelMapOccupancyBase<VoxelNodeOccRGB>

Log-odds sparse voxel map for cells containing the occupancy and an RGB color for each voxel.

Public Functions

inline CVoxelMapRGB(double resolution = 0.05, uint8_t inner_bits = 2, uint8_t leaf_bits = 3)

~CVoxelMapRGB()

Public Members

double resolution = 0.10

uint8_t inner_bits = 2

uint8_t leaf_bits = 3

mrpt::maps::TVoxelMap_InsertionOptions insertionOpts

mrpt::maps::TVoxelMap_LikelihoodOptions likelihoodOpts

Protected Functions

bool internal_insertObservation(const mrpt::obs::CObservation &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose) override

bool internal_insertObservation_3DScan(const mrpt::obs::CObservation3DRangeScan &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose = std::nullopt)

bool internal_insertObservation_default(const mrpt::obs::CObservation &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose = std::nullopt)

double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) const override