class mrpt::maps::CVoxelMapRGB
#include <mrpt/maps/CVoxelMapRGB.h> class CVoxelMapRGB: public mrpt::maps::CVoxelMapOccupancyBase { public: // typedefs typedef CVoxelMapBase<node_t> myself_t; typedef node_t voxel_node_t; // fields double resolution = 0.10; uint8_t inner_bits = 2; uint8_t leaf_bits = 3; mrpt::maps::TVoxelMap_InsertionOptions insertionOpts; mrpt::maps::TVoxelMap_LikelihoodOptions likelihoodOpts; TVoxelMap_LikelihoodOptions likelihoodOptions; TVoxelMap_RenderingOptions renderingOptions; // construction CVoxelMapRGB( double resolution = 0.05, uint8_t inner_bits = 2, uint8_t leaf_bits = 3 ); // methods void insertPointCloudAsRays( const mrpt::maps::CPointsMap& pts, const mrpt::math::TPoint3D& sensorPt, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt ); void insertPointCloudAsEndPoints( const mrpt::maps::CPointsMap& pts, const mrpt::math::TPoint3D& sensorPt, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt ); const Bonxai::VoxelGrid<node_t>& grid() const; };
Inherited Members
public: // structs struct Impl; // fields static constexpr int8_t CELLTYPE_MIN = -127; static constexpr int8_t CELLTYPE_MAX = 127; static constexpr int8_t P2LTABLE_SIZE = CELLTYPE_MAX; static constexpr std::size_t LOGODDS_LUT_ENTRIES = 1<<8; // methods virtual bool isEmpty() const = 0; virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0; virtual std::string asString() const = 0; virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& o) const = 0; CVoxelMapBase& operator = (const CVoxelMapBase& o); CVoxelMapBase& operator = (CVoxelMapBase&& o); virtual void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels& gl_obj) const = 0;