MRPT  1.9.9
mrpt::maps::COctoMap Class Reference

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::CSimplePointsMapgetAsSimplePointsMap () 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::CSimplePointsMapgetAsSimplePointsMap ()
 
virtual mxArraywriteToMatlab () 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< COctoMap >
 
using ConstPtr = std::shared_ptr< const COctoMap >
 
using UniquePtr = std::unique_ptr< COctoMap >
 
using ConstUniquePtr = std::unique_ptr< const COctoMap >
 
static mrpt::rtti::CLASSINIT _init_COctoMap
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "COctoMap"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () 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( "COctoMap,octoMap" , & mrpt::maps::COctoMap ::MapDefinition, & mrpt::maps::COctoMap ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static COctoMapCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 43 of file COctoMap.h.

◆ ConstUniquePtr

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

A type for the associated smart pointer

Definition at line 43 of file COctoMap.h.

◆ UniquePtr

using mrpt::maps::COctoMap::UniquePtr = std::unique_ptr< 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 283 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
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 172 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
sfThe 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
originstarting coordinate of ray
directionA vector pointing in the direction of the raycast. Does not need to be normalized.
endreturns the center of the cell that was hit by the ray, if successful
ignoreUnknownCellswhether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRangeMaximum 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::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

◆ clear()

◆ 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 149 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, 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
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 181 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
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe 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, MRPT_UNUSED_PARAM, 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 134 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, 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 200 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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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 294 of file COctoMapBase.h.

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

◆ getAsOctoMapVoxels()

◆ 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 296 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 300 of file CMetricMap.h.

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

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◆ getClampingThresMax()

double COctoMap::getClampingThresMax ( ) const
overridevirtual

◆ getClampingThresMaxLog()

float COctoMap::getClampingThresMaxLog ( ) const
overridevirtual

◆ getClampingThresMin()

double COctoMap::getClampingThresMin ( ) const
overridevirtual

◆ getClampingThresMinLog()

float COctoMap::getClampingThresMinLog ( ) const
overridevirtual

◆ 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

◆ getOccupancyThresLog()

float COctoMap::getOccupancyThresLog ( ) const
overridevirtual

◆ getOctomap()

OCTOMAP_CLASS& mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::getOctomap ( )
inlineinherited

Get a reference to the internal octomap object.

Example:

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

◆ getProbHitLog()

float COctoMap::getProbHitLog ( ) const
overridevirtual

◆ getProbMiss()

double COctoMap::getProbMiss ( ) const
overridevirtual

◆ getProbMissLog()

float COctoMap::getProbMissLog ( ) const
overridevirtual

◆ 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(), and mrpt::opengl::COpenGLViewport::render().

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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
obsThe observation
robotPoseThe 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::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), 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_sensorPtIs a pointer to a "point3D".
[out]ptr_scanIs 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::TPoint3Df::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3Df::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3Df::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()

◆ 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::exceptionSome 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::maps::CMetricMap::loadFromSimpleMap(), 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 107 of file CMetricMap.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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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 48 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(), and mrpt::opengl::COpenGLViewport::render().

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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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 87 of file COctoMap.cpp.

◆ 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

◆ setClampingThresMin()

void COctoMap::setClampingThresMin ( double  thresProb)
overridevirtual

◆ setOccupancyThres()

void COctoMap::setOccupancyThres ( double  prob)
overridevirtual

◆ setProbHit()

void COctoMap::setProbHit ( double  prob)
overridevirtual

◆ setProbMiss()

void COctoMap::setProbMiss ( double  prob)
overridevirtual

◆ 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 162 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, 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

◆ _init_COctoMap

mrpt::rtti::CLASSINIT mrpt::maps::COctoMap::_init_COctoMap
staticprotected

Definition at line 43 of file COctoMap.h.

◆ className

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

Definition at line 43 of file COctoMap.h.

◆ genericMapParams

◆ insertionOptions

TInsertionOptions mrpt::maps::COctoMapBase< octomap::OcTree , octomap::OcTreeNode >::insertionOptions
inherited

The options used when inserting.

Definition at line 226 of file COctoMapBase.h.

◆ likelihoodOptions

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

Definition at line 253 of file COctoMapBase.h.

◆ m_impl

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

Definition at line 379 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( "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 289 of file COctoMapBase.h.

◆ runtimeClassId

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

Definition at line 43 of file COctoMap.h.




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