Detailed Description

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.

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

Definition at line 40 of file COctoMap.h.

#include <mrpt/maps/COctoMap.h>

Inheritance diagram for mrpt::maps::COctoMap:

Classes
struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
using	myself_t = COctoMapBase< octomap::OcTree, octomap::OcTreeNode >

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

	~COctoMap () override
	Destructor. 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
mrpt::pimpl< Impl >	m_impl

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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::COctoMap,octoMap" , & mrpt::maps::COctoMap ::MapDefinition, & mrpt::maps::COctoMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

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

static COctoMap *	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::COctoMap::ConstPtr = std::shared_ptr<const mrpt::maps :: COctoMap >

Definition at line 43 of file COctoMap.h.

◆ ConstUniquePtr

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

Definition at line 43 of file COctoMap.h.

◆ myself_t

using mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::myself_t = COctoMapBase<octomap::OcTree , octomap::OcTreeNode >

inherited

Definition at line 48 of file COctoMapBase.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 43 of file COctoMap.h.

◆ UniquePtr

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

Definition at line 43 of file COctoMap.h.

Constructor & Destructor Documentation

◆ COctoMap()

COctoMap::COctoMap ( const double resolution = 0.10 )

Default constructor.

Definition at line 80 of file COctoMap.cpp.

◆ ~COctoMap()

COctoMap::~COctoMap ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::COctoMap::_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 COctoMap::calcNumNodes ( ) const

Traverses the tree to calculate the total number of nodes.

Definition at line 353 of file COctoMap.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.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::castRay(), mrpt::containers::end(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

◆ 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::COctoMap::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::COctoMap::Create ( Args &&... args )

inlinestatic

Definition at line 43 of file COctoMap.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 43 of file COctoMap.h.

◆ CreateFromMapDefinition()

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

static

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

Definition at line 36 of file COctoMap.cpp.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 43 of file COctoMap.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::OcTree , octomap::OcTreeNode >::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.

References mrpt::opengl::COctoMapVoxels::Create(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getAsOctoMapVoxels().

◆ getAsOctoMapVoxels()

void COctoMap::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::OcTree, octomap::OcTreeNode >.

Definition at line 153 of file COctoMap.cpp.

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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 COctoMap::getClampingThresMax ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 401 of file COctoMap.cpp.

◆ getClampingThresMaxLog()

float COctoMap::getClampingThresMaxLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 405 of file COctoMap.cpp.

◆ getClampingThresMin()

double COctoMap::getClampingThresMin ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 393 of file COctoMap.cpp.

◆ getClampingThresMinLog()

float COctoMap::getClampingThresMinLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 397 of file COctoMap.cpp.

◆ getClassName()

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

inlinestatic

Definition at line 43 of file COctoMap.h.

◆ getMetricMax() [1/2]

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

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

Definition at line 345 of file COctoMap.cpp.

◆ getMetricMax() [2/2]

void COctoMap::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 349 of file COctoMap.cpp.

◆ getMetricMin() [1/2]

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

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

Definition at line 337 of file COctoMap.cpp.

◆ getMetricMin() [2/2]

void COctoMap::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 341 of file COctoMap.cpp.

◆ getMetricSize() [1/2]

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

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

Definition at line 329 of file COctoMap.cpp.

◆ getMetricSize() [2/2]

void COctoMap::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 333 of file COctoMap.cpp.

◆ getNumLeafNodes()

size_t COctoMap::getNumLeafNodes ( ) const

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

Definition at line 357 of file COctoMap.cpp.

◆ getOccupancyThres()

double COctoMap::getOccupancyThres ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 375 of file COctoMap.cpp.

◆ getOccupancyThresLog()

float COctoMap::getOccupancyThresLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 379 of file COctoMap.cpp.

◆ getOctomap()

OCTOMAP_CLASS& mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::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.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::m_impl.

◆ 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 COctoMap::getProbHit ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 383 of file COctoMap.cpp.

◆ getProbHitLog()

float COctoMap::getProbHitLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 384 of file COctoMap.cpp.

◆ getProbMiss()

double COctoMap::getProbMiss ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 388 of file COctoMap.cpp.

◆ getProbMissLog()

float COctoMap::getProbMissLog ( ) const

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 389 of file COctoMap.cpp.

◆ getResolution()

double COctoMap::getResolution ( ) const

Definition at line 310 of file COctoMap.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::COctoMap::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::COctoMap::GetRuntimeClassIdStatic ( )

static

◆ getTreeDepth()

unsigned int COctoMap::getTreeDepth ( ) const

Definition at line 314 of file COctoMap.cpp.

◆ 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.

References mrpt::maps::CPointsMap::getPointsBuffer(), MRPT_END, and MRPT_START.

◆ insertRay()

void COctoMap::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 289 of file COctoMap.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.

References mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::obs::CObservation::getSensorPose(), IS_CLASS, mrpt::obs::CObservation::load(), mrpt::maps::CPointsMap::size(), mrpt::poses::UNINITIALIZED_POSE, 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.

◆ internal_clear()

void COctoMap::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 409 of file COctoMap.cpp.

◆ internal_CreateFromMapDefinition()

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

static

Definition at line 63 of file COctoMap.cpp.

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

◆ internal_insertObservation()

bool COctoMap::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 137 of file COctoMap.cpp.

◆ isEmpty()

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

inlineoverridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 63 of file COctoMap.h.

References size().

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◆ isPointWithinOctoMap()

bool COctoMap::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 303 of file COctoMap.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::COctoMap::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 36 of file COctoMap.cpp.

◆ memoryFullGrid()

size_t COctoMap::memoryFullGrid ( ) const

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

Definition at line 324 of file COctoMap.cpp.

◆ memoryUsage()

size_t COctoMap::memoryUsage ( ) const

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

Definition at line 319 of file COctoMap.cpp.

◆ memoryUsageNode()

size_t COctoMap::memoryUsageNode ( ) const

Returns: Memory usage of the a single octree node

Definition at line 320 of file COctoMap.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.

References mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, and mrpt::opengl::COpenGLScene::saveToFile().

◆ serializeFrom() [1/2]

void COctoMap::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 99 of file COctoMap.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 COctoMap::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 86 of file COctoMap.cpp.

◆ serializeTo() [1/2]

void COctoMap::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 87 of file COctoMap.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 COctoMap::setClampingThresMax ( double thresProb )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 371 of file COctoMap.cpp.

◆ setClampingThresMin()

void COctoMap::setClampingThresMin ( double thresProb )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 367 of file COctoMap.cpp.

◆ setOccupancyThres()

void COctoMap::setOccupancyThres ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 361 of file COctoMap.cpp.

◆ setProbHit()

void COctoMap::setProbHit ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 365 of file COctoMap.cpp.

◆ setProbMiss()

void COctoMap::setProbMiss ( double prob )

overridevirtual

Implements mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >.

Definition at line 366 of file COctoMap.cpp.

◆ size()

size_t COctoMap::size ( ) const

Returns: The number of nodes in the tree

Definition at line 318 of file COctoMap.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 COctoMap::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 298 of file COctoMap.cpp.

Referenced by TEST().

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◆ volume()

double COctoMap::volume ( )

Definition at line 328 of file COctoMap.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::COctoMap::className = "mrpt::maps" "::" "COctoMap"

static

Definition at line 43 of file COctoMap.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::OcTree , octomap::OcTreeNode >::insertionOptions

inherited

The options used when inserting.

Definition at line 227 of file COctoMapBase.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::likelihoodOptions

inherited

Definition at line 254 of file COctoMapBase.h.

◆ m_impl

mrpt::pimpl<Impl> mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::m_impl

protectedinherited

Definition at line 380 of file COctoMapBase.h.

◆ m_private_map_register_id

const size_t mrpt::maps::COctoMap::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::COctoMap,octoMap" , & mrpt::maps::COctoMap ::MapDefinition, & mrpt::maps::COctoMap ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 60 of file COctoMap.h.

◆ renderingOptions

TRenderingOptions mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::renderingOptions

inherited

Definition at line 290 of file COctoMapBase.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::COctoMap::runtimeClassId

staticprotected

Definition at line 43 of file COctoMap.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

Constructor & Destructor Documentation

◆ COctoMap()

◆ ~COctoMap()

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()

◆ getPointOccupancy()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ getResolution()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getTreeDepth()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ insertPointCloud()

◆ insertRay()

◆ internal_build_PointCloud_for_observation()

◆ internal_clear()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

◆ isEmpty()

◆ isPointWithinOctoMap()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()