Detailed Description

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.

See also: CMetricMap, the example in "MRPT/samples/octomap_simple"

Definition at line 36 of file CColouredOctoMap.h.

#include <mrpt/maps/CColouredOctoMap.h>

Inheritance diagram for mrpt::maps::CColouredOctoMap:

Classes
struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
enum	TColourUpdate { INTEGRATE = 0, SET, AVERAGE }
	This allows the user to select the desired method to update voxels colour. More...

using	myself_t = COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >

Public Member Functions
	CColouredOctoMap (const double resolution=0.10)
	Default constructor. More...

	~CColouredOctoMap () override
	Destructor. More...

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. More...

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) More...

void	setVoxelColourMethod (TColourUpdate new_method)
	Set the method used to update voxels colour. More...

TColourUpdate	getVoxelColourMethod ()
	Get the method used to update voxels colour. More...

void	getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const override
	Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More...

bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...

OCTOMAP_CLASS &	getOctomap ()
	Get a reference to the internal octomap object. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

bool	getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const
	Get the occupancy probability [0,1] of a point. More...

void	insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z)
	Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. More...

bool	castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
	Performs raycasting in 3d, similar to computeRay(). More...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
	! More...

bool	insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)

virtual bool	canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

double	computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matching between this and another 2D point map, which includes finding: More...

virtual void	determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

virtual float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...

virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

virtual const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...

mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

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. More...

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. More...

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") More...

double	getResolution () const

unsigned int	getTreeDepth () const

size_t	size () const

size_t	memoryUsage () const

size_t	memoryUsageNode () const

size_t	memoryFullGrid () const

double	volume ()

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

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

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...

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...

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

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

void	setOccupancyThres (double prob) override

void	setProbHit (double prob) override

void	setProbMiss (double prob) override

void	setClampingThresMin (double thresProb) override

void	setClampingThresMax (double thresProb) override

double	getOccupancyThres () const override

float	getOccupancyThresLog () const override

double	getProbHit () const override

float	getProbHitLog () const override

double	getProbMiss () const override

float	getProbMissLog () const override

double	getClampingThresMin () const override

float	getClampingThresMinLog () const override

double	getClampingThresMax () const override

float	getClampingThresMaxLog () const override

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
TInsertionOptions	insertionOptions
	The options used when inserting. More...

TLikelihoodOptions	likelihoodOptions

TRenderingOptions	renderingOptions

TMapGenericParams	genericMapParams
	Common params to all maps. More...

Protected Member Functions
void	internal_clear () override
	Internal method called by clear() More...

bool	internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose) override
	Internal method called by insertObservation() More...

bool	internal_build_PointCloud_for_observation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose, octomap_point3d &sensorPt, octomap_pointcloud &scan) const
	Builds the list of 3D points in global coordinates for a generic observation. More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
TColourUpdate	m_colour_method

mrpt::pimpl< Impl >	m_impl

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CColouredOctoMap >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::CColouredOctoMap >

using	UniquePtr = std::unique_ptr< mrpt::maps ::CColouredOctoMap >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CColouredOctoMap >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CColouredOctoMap"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CColouredOctoMap,colourOctoMap,colorOctoMap" , & mrpt::maps::CColouredOctoMap ::MapDefinition, & mrpt::maps::CColouredOctoMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static CColouredOctoMap *	CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
	Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...

static mrpt::maps::CMetricMap *	internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::CColouredOctoMap::ConstPtr = std::shared_ptr<const mrpt::maps :: CColouredOctoMap >

Definition at line 40 of file CColouredOctoMap.h.

◆ ConstUniquePtr

using mrpt::maps::CColouredOctoMap::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CColouredOctoMap >

Definition at line 40 of file CColouredOctoMap.h.

◆ myself_t

using mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::myself_t = COctoMapBase<octomap::ColorOcTree , octomap::ColorOcTreeNode >

inherited

Definition at line 48 of file COctoMapBase.h.

◆ Ptr

using mrpt::maps::CColouredOctoMap::Ptr = std::shared_ptr< mrpt::maps :: CColouredOctoMap >

A type for the associated smart pointer

Definition at line 40 of file CColouredOctoMap.h.

◆ UniquePtr

using mrpt::maps::CColouredOctoMap::UniquePtr = std::unique_ptr< mrpt::maps :: CColouredOctoMap >

Definition at line 40 of file CColouredOctoMap.h.

Member Enumeration Documentation

◆ TColourUpdate

enum mrpt::maps::CColouredOctoMap::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

Enumerator
INTEGRATE
SET
AVERAGE

Definition at line 56 of file CColouredOctoMap.h.

Constructor & Destructor Documentation

◆ CColouredOctoMap()

CColouredOctoMap::CColouredOctoMap ( const double resolution = 0.10 )

Default constructor.

Definition at line 87 of file CColouredOctoMap.cpp.

◆ ~CColouredOctoMap()

CColouredOctoMap::~CColouredOctoMap ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CColouredOctoMap::_GetBaseClass ( )

staticprotected

◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 282 of file CMetricMap.h.

◆ calcNumNodes()

size_t CColouredOctoMap::calcNumNodes ( ) const

Traverses the tree to calculate the total number of nodes.

Definition at line 475 of file CColouredOctoMap.cpp.

◆ canComputeObservationLikelihood()

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation & obs ) const

virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also: computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 161 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame & sf ) const

inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

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◆ castRay()

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay	(	const mrpt::math::TPoint3D &	origin,
		const mrpt::math::TPoint3D &	direction,
		mrpt::math::TPoint3D &	end,
		bool	ignoreUnknownCells = `false`,
		double	maxRange = `-1.0`
	)		const

inherited

Performs raycasting in 3d, similar to computeRay().

A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.

Parameters

origin	starting coordinate of ray
direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
end	returns the center of the cell that was hit by the ray, if successful
ignoreUnknownCells	whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns: whether or not an occupied cell was hit

Definition at line 276 of file COctoMapBase_impl.h.

◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 30 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::ros1bridge::fromROS(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CColouredOctoMap::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float CMetricMap::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

virtualinherited

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
params	[IN] Matching parameters

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap3D, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.

Definition at line 143 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::maps::CMultiMetricMap::compute3DMatchingRatio().

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◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 170 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

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◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 76 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood	(	const mrpt::obs::CSensoryFrame &	sf,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

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◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CColouredOctoMap::Create ( Args &&... args )

inlinestatic

Definition at line 40 of file CColouredOctoMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CColouredOctoMap::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 40 of file CColouredOctoMap.h.

◆ CreateFromMapDefinition()

mrpt::maps::CColouredOctoMap * mrpt::maps::CColouredOctoMap::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

Definition at line 46 of file CColouredOctoMap.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CColouredOctoMap::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CColouredOctoMap::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 40 of file CColouredOctoMap.h.

◆ determineMatching2D()

void CMetricMap::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::tfest::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap3D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.

Definition at line 119 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

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◆ determineMatching3D()

void CMetricMap::determineMatching3D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		mrpt::tfest::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 131 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getAs3DObject()

void mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

inlineoverridevirtualinherited

Returns a 3D object representing the map.

See also: renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 295 of file COctoMapBase.h.

◆ getAsOctoMapVoxels()

void CColouredOctoMap::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels & gl_obj ) const

overridevirtual

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

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 322 of file CColouredOctoMap.cpp.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::opengl::COctoMapVoxels::clear(), mrpt::img::TColorf::G, mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::img::TColorf::R, mrpt::opengl::COctoMapVoxels::reserveGridCubes(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::COctoMapVoxels::setBoundingBox(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::sort_voxels_by_z(), mrpt::opengl::VOXEL_SET_FREESPACE, mrpt::opengl::VOXEL_SET_OCCUPIED, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const

inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return nullptr

Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 295 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getAsSimplePointsMap() [2/2]

mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )

inlineinherited

Definition at line 299 of file CMetricMap.h.

References mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getClampingThresMax()

double CColouredOctoMap::getClampingThresMax ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 535 of file CColouredOctoMap.cpp.

◆ getClampingThresMaxLog()

float CColouredOctoMap::getClampingThresMaxLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 539 of file CColouredOctoMap.cpp.

◆ getClampingThresMin()

double CColouredOctoMap::getClampingThresMin ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 527 of file CColouredOctoMap.cpp.

◆ getClampingThresMinLog()

float CColouredOctoMap::getClampingThresMinLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 531 of file CColouredOctoMap.cpp.

◆ getClassName()

static constexpr auto mrpt::maps::CColouredOctoMap::getClassName ( )

inlinestatic

Definition at line 40 of file CColouredOctoMap.h.

◆ getMetricMax() [1/2]

void CColouredOctoMap::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)

maximum value of the bounding box of all known space in x, y, z

Definition at line 467 of file CColouredOctoMap.cpp.

◆ getMetricMax() [2/2]

void CColouredOctoMap::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const

maximum value of the bounding box of all known space in x, y, z

Definition at line 471 of file CColouredOctoMap.cpp.

◆ getMetricMin() [1/2]

void CColouredOctoMap::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)

minimum value of the bounding box of all known space in x, y, z

Definition at line 459 of file CColouredOctoMap.cpp.

◆ getMetricMin() [2/2]

void CColouredOctoMap::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const

minimum value of the bounding box of all known space in x, y, z

Definition at line 463 of file CColouredOctoMap.cpp.

◆ getMetricSize() [1/2]

void CColouredOctoMap::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 451 of file CColouredOctoMap.cpp.

◆ getMetricSize() [2/2]

void CColouredOctoMap::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		const

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 455 of file CColouredOctoMap.cpp.

◆ getNumLeafNodes()

size_t CColouredOctoMap::getNumLeafNodes ( ) const

Traverses the tree to calculate the total number of leaf nodes.

Definition at line 479 of file CColouredOctoMap.cpp.

◆ getOccupancyThres()

double CColouredOctoMap::getOccupancyThres ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 503 of file CColouredOctoMap.cpp.

◆ getOccupancyThresLog()

float CColouredOctoMap::getOccupancyThresLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 507 of file CColouredOctoMap.cpp.

◆ getOctomap()

OCTOMAP_CLASS& mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getOctomap ( )

inlineinherited

Get a reference to the internal octomap object.

Example:

mrpt::maps::COctoMap map;

octomap::OcTree &om = map.getOctomap<octomap::OcTree>();

Definition at line 61 of file COctoMapBase.h.

◆ getPointColour()

bool CColouredOctoMap::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.

Definition at line 278 of file CColouredOctoMap.cpp.

◆ getPointOccupancy()

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getPointOccupancy	(	const float	x,
		const float	y,
		const float	z,
		double &	prob_occupancy
	)		const

inherited

Get the occupancy probability [0,1] of a point.

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

Definition at line 242 of file COctoMapBase_impl.h.

◆ getProbHit()

double CColouredOctoMap::getProbHit ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 511 of file CColouredOctoMap.cpp.

◆ getProbHitLog()

float CColouredOctoMap::getProbHitLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 515 of file CColouredOctoMap.cpp.

◆ getProbMiss()

double CColouredOctoMap::getProbMiss ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 519 of file CColouredOctoMap.cpp.

◆ getProbMissLog()

float CColouredOctoMap::getProbMissLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 523 of file CColouredOctoMap.cpp.

◆ getResolution()

double CColouredOctoMap::getResolution ( ) const

Definition at line 429 of file CColouredOctoMap.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CColouredOctoMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CColouredOctoMap::GetRuntimeClassIdStatic ( )

static

◆ getTreeDepth()

unsigned int CColouredOctoMap::getTreeDepth ( ) const

Definition at line 433 of file CColouredOctoMap.cpp.

◆ getVoxelColourMethod()

TColourUpdate mrpt::maps::CColouredOctoMap::getVoxelColourMethod ( )

inline

Get the method used to update voxels colour.

Definition at line 82 of file CColouredOctoMap.h.

References m_colour_method.

◆ hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ insertObservation()

bool CMetricMap::insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.

See also: CObservation::insertObservationInto

Definition at line 93 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

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◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr	(	const mrpt::obs::CObservation::Ptr &	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ insertPointCloud()

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud	(	const CPointsMap &	ptMap,
		const float	sensor_x,
		const float	sensor_y,
		const float	sensor_z
	)

inherited

Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.

Insertion parameters can be found in insertionOptions.

See also: The generic observation insertion method CMetricMap::insertObservation()

Definition at line 259 of file COctoMapBase_impl.h.

◆ insertRay()

void CColouredOctoMap::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.

Definition at line 408 of file CColouredOctoMap.cpp.

◆ internal_build_PointCloud_for_observation()

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose,
		octomap_point3d &	sensorPt,
		octomap_pointcloud &	scan
	)		const

protectedinherited

Builds the list of 3D points in global coordinates for a generic observation.

Used for both, insertObservation() and computeLikelihood().

Parameters

[out]	point3d_sensorPt	Is a pointer to a "point3D".
[out]	ptr_scan	Is in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code.

Returns: false if the observation kind is not applicable.

Definition at line 36 of file COctoMapBase_impl.h.

◆ internal_clear()

void CColouredOctoMap::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 543 of file CColouredOctoMap.cpp.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CColouredOctoMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 73 of file CColouredOctoMap.cpp.

References mrpt::maps::CColouredOctoMap::TMapDefinition::insertionOpts, mrpt::maps::CColouredOctoMap::TMapDefinition::likelihoodOpts, and mrpt::maps::CColouredOctoMap::TMapDefinition::resolution.

◆ internal_insertObservation()

bool CColouredOctoMap::internal_insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose
	)

overrideprotectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 150 of file CColouredOctoMap.cpp.

References mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CPointCloudColoured::Create(), IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld, mrpt::maps::CPointsMap::size(), mrpt::poses::UNINITIALIZED_POSE, mrpt::obs::detail::unprojectInto(), mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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◆ isEmpty()

bool mrpt::maps::CColouredOctoMap::isEmpty ( ) const

inlineoverridevirtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

Definition at line 97 of file CColouredOctoMap.h.

References size().

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◆ isPointWithinOctoMap()

bool CColouredOctoMap::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")

Definition at line 422 of file CColouredOctoMap.cpp.

◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap & Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

References ASSERTMSG_, mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap & Map )

inlineinherited

!

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 106 of file CMetricMap.h.

References mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations().

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CColouredOctoMap::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 46 of file CColouredOctoMap.cpp.

◆ memoryFullGrid()

size_t CColouredOctoMap::memoryFullGrid ( ) const

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

Definition at line 446 of file CColouredOctoMap.cpp.

◆ memoryUsage()

size_t CColouredOctoMap::memoryUsage ( ) const

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

Definition at line 438 of file CColouredOctoMap.cpp.

◆ memoryUsageNode()

size_t CColouredOctoMap::memoryUsageNode ( ) const

Returns: Memory usage of the a single octree node

Definition at line 442 of file CColouredOctoMap.cpp.

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ saveMetricMapRepresentationToFile()

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

overridevirtualinherited

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::maps::CMetricMap.

Definition at line 187 of file COctoMapBase_impl.h.

◆ serializeFrom() [1/2]

void CColouredOctoMap::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 108 of file CColouredOctoMap.cpp.

References mrpt::containers::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CColouredOctoMap::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 94 of file CColouredOctoMap.cpp.

◆ serializeTo() [1/2]

void CColouredOctoMap::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 95 of file CColouredOctoMap.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setClampingThresMax()

void CColouredOctoMap::setClampingThresMax ( double thresProb )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 499 of file CColouredOctoMap.cpp.

◆ setClampingThresMin()

void CColouredOctoMap::setClampingThresMin ( double thresProb )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 495 of file CColouredOctoMap.cpp.

◆ setOccupancyThres()

void CColouredOctoMap::setOccupancyThres ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 483 of file CColouredOctoMap.cpp.

◆ setProbHit()

void CColouredOctoMap::setProbHit ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 487 of file CColouredOctoMap.cpp.

◆ setProbMiss()

void CColouredOctoMap::setProbMiss ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >.

Definition at line 491 of file CColouredOctoMap.cpp.

◆ setVoxelColourMethod()

void mrpt::maps::CColouredOctoMap::setVoxelColourMethod ( TColourUpdate new_method )

inline

Set the method used to update voxels colour.

Definition at line 76 of file CColouredOctoMap.h.

References m_colour_method.

◆ size()

size_t CColouredOctoMap::size ( ) const

Returns: The number of nodes in the tree

Definition at line 437 of file CColouredOctoMap.cpp.

Referenced by isEmpty().

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◆ squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 153 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ updateVoxel()

void CColouredOctoMap::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.

Definition at line 417 of file CColouredOctoMap.cpp.

◆ updateVoxelColour()

void CColouredOctoMap::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)

Definition at line 300 of file CColouredOctoMap.cpp.

References THROW_EXCEPTION.

◆ volume()

double CColouredOctoMap::volume ( )

Definition at line 450 of file CColouredOctoMap.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CColouredOctoMap::className = "mrpt::maps" "::" "CColouredOctoMap"

static

Definition at line 40 of file CColouredOctoMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

◆ insertionOptions

TInsertionOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::insertionOptions

inherited

The options used when inserting.

Definition at line 227 of file COctoMapBase.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::likelihoodOptions

inherited

Definition at line 254 of file COctoMapBase.h.

◆ m_colour_method

TColourUpdate mrpt::maps::CColouredOctoMap::m_colour_method

protected

Initial value:

{

INTEGRATE}

Definition at line 168 of file CColouredOctoMap.h.

Referenced by getVoxelColourMethod(), and setVoxelColourMethod().

◆ m_impl

mrpt::pimpl<Impl> mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::m_impl

protectedinherited

Definition at line 380 of file COctoMapBase.h.

◆ m_private_map_register_id

const size_t mrpt::maps::CColouredOctoMap::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CColouredOctoMap,colourOctoMap,colorOctoMap" , & mrpt::maps::CColouredOctoMap ::MapDefinition, & mrpt::maps::CColouredOctoMap ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 94 of file CColouredOctoMap.h.

◆ renderingOptions

TRenderingOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::renderingOptions

inherited

Definition at line 290 of file COctoMapBase.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CColouredOctoMap::runtimeClassId

staticprotected

Definition at line 40 of file CColouredOctoMap.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ myself_t

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TColourUpdate

Constructor & Destructor Documentation

◆ CColouredOctoMap()

◆ ~CColouredOctoMap()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ calcNumNodes()

◆ canComputeObservationLikelihood()

◆ canComputeObservationsLikelihood()

◆ castRay()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateAlloc()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ getAs3DObject()

◆ getAsOctoMapVoxels()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClampingThresMax()

◆ getClampingThresMaxLog()

◆ getClampingThresMin()

◆ getClampingThresMinLog()

◆ getClassName()

◆ getMetricMax() [1/2]

◆ getMetricMax() [2/2]

◆ getMetricMin() [1/2]

◆ getMetricMin() [2/2]

◆ getMetricSize() [1/2]

◆ getMetricSize() [2/2]

◆ getNumLeafNodes()

◆ getOccupancyThres()

◆ getOccupancyThresLog()

◆ getOctomap()

◆ getPointColour()

◆ getPointOccupancy()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ getResolution()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getTreeDepth()

◆ getVoxelColourMethod()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ insertPointCloud()

◆ insertRay()

◆ internal_build_PointCloud_for_observation()

◆ internal_clear()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()