Detailed Description

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.

This version stores both, occupancy information and RGB colour data at each octree node. See the base class mrpt::maps::COctoMapBase.

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

Definition at line 31 of file CColouredOctoMap.h.

#include <mrpt/maps/CColouredOctoMap.h>

Inheritance diagram for mrpt::maps::CColouredOctoMap:

Classes
struct	TMapDefinition

struct	TMapDefinitionBase

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

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

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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

virtual	~CColouredOctoMap ()
	Destructor. More...

bool	getPointColour (const float x, const float y, const float z, uint8_t &r, uint8_t &g, uint8_t &b) const
	Get the RGB colour of a point. More...

void	updateVoxelColour (const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b)
	Manually update the colour of the voxel at (x,y,z) More...

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

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

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

virtual 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...

virtual 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...

virtual 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=NULL)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
	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...

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

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...

virtual 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
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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
virtual 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...

Protected Attributes
TColourUpdate	m_colour_method

mrpt::pimpl< Impl >	m_impl

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

using	ConstPtr = std::shared_ptr< const CColouredOctoMap >

using	UniquePtr = std::unique_ptr< CColouredOctoMap >

using	ConstUniquePtr = std::unique_ptr< const CColouredOctoMap >

static mrpt::rtti::CLASSINIT	_init_CColouredOctoMap

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CColouredOctoMap"

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

static constexpr auto	getClassName ()

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

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (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( "CColouredOctoMap,colourOctoMap,colorOctoMap" , & mrpt::maps::CColouredOctoMap ::MapDefinition, & mrpt::maps::CColouredOctoMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

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

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

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

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 35 of file CColouredOctoMap.h.

◆ ConstUniquePtr

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

Definition at line 35 of file CColouredOctoMap.h.

◆ myself_t

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

inherited

Definition at line 49 of file COctoMapBase.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 35 of file CColouredOctoMap.h.

◆ UniquePtr

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

Definition at line 35 of file CColouredOctoMap.h.

Member Enumeration Documentation

◆ TColourUpdate

enum mrpt::maps::CColouredOctoMap::TColourUpdate

This allows the user to select the desired method to update voxels colour.

SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn't any previous color, any method is equivalent to SET. INTEGRATE is the default option

Enumerator
INTEGRATE
SET
AVERAGE

Definition at line 51 of file CColouredOctoMap.h.

Constructor & Destructor Documentation

◆ CColouredOctoMap()

CColouredOctoMap::CColouredOctoMap ( const double resolution = 0.10 )

Default constructor.

Definition at line 87 of file CColouredOctoMap.cpp.

◆ ~CColouredOctoMap()

CColouredOctoMap::~CColouredOctoMap ( )

virtual

Destructor.

Definition at line 93 of file CColouredOctoMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ auxParticleFilterCleanUp()

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

inlinevirtualinherited

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

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

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

Definition at line 288 of file CMetricMap.h.

◆ calcNumNodes()

size_t CColouredOctoMap::calcNumNodes ( ) const

Traverses the tree to calculate the total number of nodes.

Definition at line 500 of file CColouredOctoMap.cpp.

◆ canComputeObservationLikelihood() [1/2]

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 180 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

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

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 121 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 86 of file CMetricMap.cpp.

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

◆ 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 249 of file COctoMapBase_impl.h.

◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 31 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::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

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

virtualinherited

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

This method always return 0 for grid maps.

Parameters

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

Returns: The matching ratio [0,1]

See also: determineMatching2D

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

Definition at line 157 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ 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 189 of file CMetricMap.cpp.

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

◆ 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 77 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 67 of file CMetricMap.cpp.

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

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

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 35 of file CColouredOctoMap.h.

◆ CreateFromMapDefinition()

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

static

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

Definition at line 46 of file CColouredOctoMap.cpp.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::maps::CColouredOctoMap::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 35 of file CColouredOctoMap.h.

◆ determineMatching2D()

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

virtualinherited

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

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

The algorithm is:

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

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

Parameters

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

See also: compute3DMatchingRatio

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

Definition at line 127 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ 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 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ duplicateGetSmartPtr()

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

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

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

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

◆ getAs3DObject()

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

inlineoverridevirtualinherited

Returns a 3D object representing the map.

See also: renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 295 of file COctoMapBase.h.

◆ getAsOctoMapVoxels()

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

overridevirtual

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

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

Definition at line 337 of file CColouredOctoMap.cpp.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::opengl::COctoMapVoxels::clear(), mrpt::img::TColorf::G, mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::img::TColorf::R, mrpt::opengl::COctoMapVoxels::reserveGridCubes(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::COctoMapVoxels::setBoundingBox(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::sort_voxels_by_z(), mrpt::opengl::VOXEL_SET_FREESPACE, mrpt::opengl::VOXEL_SET_OCCUPIED, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ 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 NULL

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

Definition at line 300 of file CMetricMap.h.

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

◆ getAsSimplePointsMap() [2/2]

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

inlinevirtualinherited

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

Definition at line 304 of file CMetricMap.h.

◆ getClampingThresMax()

double CColouredOctoMap::getClampingThresMax ( ) const

overridevirtual

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

Definition at line 560 of file CColouredOctoMap.cpp.

◆ getClampingThresMaxLog()

float CColouredOctoMap::getClampingThresMaxLog ( ) const

overridevirtual

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

Definition at line 564 of file CColouredOctoMap.cpp.

◆ getClampingThresMin()

double CColouredOctoMap::getClampingThresMin ( ) const

overridevirtual

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

Definition at line 552 of file CColouredOctoMap.cpp.

◆ getClampingThresMinLog()

float CColouredOctoMap::getClampingThresMinLog ( ) const

overridevirtual

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

Definition at line 556 of file CColouredOctoMap.cpp.

◆ getClassName()

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

inlinestatic

Definition at line 35 of file CColouredOctoMap.h.

◆ getMetricMax() [1/2]

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

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

Definition at line 492 of file CColouredOctoMap.cpp.

◆ getMetricMax() [2/2]

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

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

Definition at line 496 of file CColouredOctoMap.cpp.

◆ getMetricMin() [1/2]

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

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

Definition at line 484 of file CColouredOctoMap.cpp.

◆ getMetricMin() [2/2]

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

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

Definition at line 488 of file CColouredOctoMap.cpp.

◆ getMetricSize() [1/2]

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

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

Definition at line 476 of file CColouredOctoMap.cpp.

◆ getMetricSize() [2/2]

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

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

Definition at line 480 of file CColouredOctoMap.cpp.

◆ getNumLeafNodes()

size_t CColouredOctoMap::getNumLeafNodes ( ) const

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

Definition at line 504 of file CColouredOctoMap.cpp.

◆ getOccupancyThres()

double CColouredOctoMap::getOccupancyThres ( ) const

overridevirtual

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

Definition at line 528 of file CColouredOctoMap.cpp.

◆ getOccupancyThresLog()

float CColouredOctoMap::getOccupancyThresLog ( ) const

overridevirtual

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

Definition at line 532 of file CColouredOctoMap.cpp.

◆ getOctomap()

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

inlineinherited

Get a reference to the internal octomap object.

Example:

mrpt::maps::COctoMap map;

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

Definition at line 62 of file COctoMapBase.h.

◆ getPointColour()

bool CColouredOctoMap::getPointColour	(	const float	x,
		const float	y,
		const float	z,
		uint8_t &	r,
		uint8_t &	g,
		uint8_t &	b
	)		const

Get the RGB colour of a point.

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

Definition at line 289 of file CColouredOctoMap.cpp.

◆ getPointOccupancy()

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

inherited

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

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

Definition at line 212 of file COctoMapBase_impl.h.

◆ getProbHit()

double CColouredOctoMap::getProbHit ( ) const

overridevirtual

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

Definition at line 536 of file CColouredOctoMap.cpp.

◆ getProbHitLog()

float CColouredOctoMap::getProbHitLog ( ) const

overridevirtual

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

Definition at line 540 of file CColouredOctoMap.cpp.

◆ getProbMiss()

double CColouredOctoMap::getProbMiss ( ) const

overridevirtual

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

Definition at line 544 of file CColouredOctoMap.cpp.

◆ getProbMissLog()

float CColouredOctoMap::getProbMissLog ( ) const

overridevirtual

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

Definition at line 548 of file CColouredOctoMap.cpp.

◆ getResolution()

double CColouredOctoMap::getResolution ( ) const

Definition at line 448 of file CColouredOctoMap.cpp.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ GetRuntimeClassIdStatic()

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

static

◆ getTreeDepth()

unsigned int CColouredOctoMap::getTreeDepth ( ) const

Definition at line 452 of file CColouredOctoMap.cpp.

◆ getVoxelColourMethod()

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

inline

Get the method used to update voxels colour.

Definition at line 77 of file CColouredOctoMap.h.

References m_colour_method.

◆ hasSubscribers()

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

inlineprotectedinherited

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

Definition at line 53 of file CObservable.h.

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

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

◆ insertObservation()

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

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 95 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().

◆ insertObservationPtr()

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

inherited

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

See: Maps and observations compatibility matrix

Definition at line 109 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

◆ 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 231 of file COctoMapBase_impl.h.

◆ insertRay()

void CColouredOctoMap::insertRay	(	const float	end_x,
		const float	end_y,
		const float	end_z,
		const float	sensor_x,
		const float	sensor_y,
		const float	sensor_z
	)

Just like insertPointCloud but with a single ray.

Definition at line 425 of file CColouredOctoMap.cpp.

◆ internal_build_PointCloud_for_observation()

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

protectedinherited

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

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

Parameters

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

Returns: false if the observation kind is not applicable.

Definition at line 35 of file COctoMapBase_impl.h.

◆ internal_clear()

void CColouredOctoMap::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 568 of file CColouredOctoMap.cpp.

◆ internal_CreateFromMapDefinition()

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

static

Definition at line 73 of file CColouredOctoMap.cpp.

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

◆ internal_insertObservation()

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

overrideprotectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 150 of file CColouredOctoMap.cpp.

References mrpt::opengl::CPointCloudColoured::TPointColour::B, mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CPointCloudColoured::TPointColour::G, IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::opengl::CPointCloudColoured::TPointColour::R, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::maps::CPointsMap::size(), mrpt::poses::UNINITIALIZED_POSE, mrpt::opengl::CPointCloudColoured::TPointColour::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3Df::x, mrpt::opengl::CPointCloudColoured::TPointColour::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3Df::y, mrpt::opengl::CPointCloudColoured::TPointColour::z, and mrpt::math::TPoint3Df::z.

◆ isEmpty()

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

inlineoverridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 91 of file CColouredOctoMap.h.

References size().

◆ isPointWithinOctoMap()

bool CColouredOctoMap::isPointWithinOctoMap	(	const float	x,
		const float	y,
		const float	z
	)		const

Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")

Definition at line 440 of file CColouredOctoMap.cpp.

◆ loadFromProbabilisticPosesAndObservations()

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

inherited

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

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

See also: insertObservation, CSimpleMap

Exceptions

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

Definition at line 37 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().

◆ 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 108 of file CMetricMap.h.

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

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

◆ MapDefinition()

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

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 46 of file CColouredOctoMap.cpp.

◆ memoryFullGrid()

size_t CColouredOctoMap::memoryFullGrid ( ) const

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

Definition at line 468 of file CColouredOctoMap.cpp.

◆ memoryUsage()

size_t CColouredOctoMap::memoryUsage ( ) const

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

Definition at line 460 of file CColouredOctoMap.cpp.

◆ memoryUsageNode()

size_t CColouredOctoMap::memoryUsageNode ( ) const

Returns: Memory usage of the a single octree node

Definition at line 464 of file CColouredOctoMap.cpp.

◆ operator delete() [1/3]

void mrpt::maps::CColouredOctoMap::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator delete() [2/3]

void mrpt::maps::CColouredOctoMap::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator delete() [3/3]

void mrpt::maps::CColouredOctoMap::operator delete ( void * ptr )

inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator delete[]()

void mrpt::maps::CColouredOctoMap::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator new() [1/3]

void* mrpt::maps::CColouredOctoMap::operator new ( size_t size )

inline

Definition at line 35 of file CColouredOctoMap.h.

◆ operator new() [2/3]

void* mrpt::maps::CColouredOctoMap::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator new() [3/3]

static void* mrpt::maps::CColouredOctoMap::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 35 of file CColouredOctoMap.h.

◆ operator new[]()

void* mrpt::maps::CColouredOctoMap::operator new[] ( size_t size )

inline

Definition at line 35 of file CColouredOctoMap.h.

◆ 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().

◆ 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 155 of file COctoMapBase_impl.h.

◆ serializeFrom()

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

overrideprotectedvirtual

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

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

Parameters

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

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 108 of file CColouredOctoMap.cpp.

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

◆ serializeGetVersion()

uint8_t CColouredOctoMap::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

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

Implements mrpt::serialization::CSerializable.

Definition at line 94 of file CColouredOctoMap.cpp.

◆ serializeTo()

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

overrideprotectedvirtual

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

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

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 95 of file CColouredOctoMap.cpp.

◆ setClampingThresMax()

void CColouredOctoMap::setClampingThresMax ( double thresProb )

overridevirtual

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

Definition at line 524 of file CColouredOctoMap.cpp.

◆ setClampingThresMin()

void CColouredOctoMap::setClampingThresMin ( double thresProb )

overridevirtual

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

Definition at line 520 of file CColouredOctoMap.cpp.

◆ setOccupancyThres()

void CColouredOctoMap::setOccupancyThres ( double prob )

overridevirtual

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

Definition at line 508 of file CColouredOctoMap.cpp.

◆ setProbHit()

void CColouredOctoMap::setProbHit ( double prob )

overridevirtual

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

Definition at line 512 of file CColouredOctoMap.cpp.

◆ setProbMiss()

void CColouredOctoMap::setProbMiss ( double prob )

overridevirtual

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

Definition at line 516 of file CColouredOctoMap.cpp.

◆ setVoxelColourMethod()

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

inline

Set the method used to update voxels colour.

Definition at line 71 of file CColouredOctoMap.h.

References m_colour_method.

◆ size()

size_t CColouredOctoMap::size ( ) const

Returns: The number of nodes in the tree

Definition at line 456 of file CColouredOctoMap.cpp.

Referenced by isEmpty().

◆ 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 170 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ updateVoxel()

void CColouredOctoMap::updateVoxel	(	const double	x,
		const double	y,
		const double	z,
		bool	occupied
	)

Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions.

Definition at line 435 of file CColouredOctoMap.cpp.

◆ updateVoxelColour()

void CColouredOctoMap::updateVoxelColour	(	const double	x,
		const double	y,
		const double	z,
		const uint8_t	r,
		const uint8_t	g,
		const uint8_t	b
	)

Manually update the colour of the voxel at (x,y,z)

Definition at line 312 of file CColouredOctoMap.cpp.

References THROW_EXCEPTION.

◆ volume()

double CColouredOctoMap::volume ( )

Definition at line 472 of file CColouredOctoMap.cpp.

◆ writeToMatlab()

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

inlinevirtualinherited

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

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

Definition at line 68 of file CSerializable.h.

Member Data Documentation

◆ _init_CColouredOctoMap

mrpt::rtti::CLASSINIT mrpt::maps::CColouredOctoMap::_init_CColouredOctoMap

staticprotected

Definition at line 35 of file CColouredOctoMap.h.

◆ className

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

static

Definition at line 35 of file CColouredOctoMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 280 of file CMetricMap.h.

◆ insertionOptions

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

inherited

The options used when inserting.

Definition at line 223 of file COctoMapBase.h.

◆ likelihoodOptions

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

inherited

Definition at line 250 of file COctoMapBase.h.

◆ m_colour_method

TColourUpdate mrpt::maps::CColouredOctoMap::m_colour_method

protected

Definition at line 162 of file CColouredOctoMap.h.

Referenced by getVoxelColourMethod(), and setVoxelColourMethod().

◆ m_impl

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

protectedinherited

Definition at line 381 of file COctoMapBase.h.

◆ m_private_map_register_id

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

static

ID used to initialize class registration (just ignore it)

Definition at line 88 of file CColouredOctoMap.h.

◆ renderingOptions

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

inherited

Definition at line 290 of file COctoMapBase.h.

◆ runtimeClassId

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

staticprotected

Definition at line 35 of file CColouredOctoMap.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

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

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ myself_t

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TColourUpdate

Constructor & Destructor Documentation

◆ CColouredOctoMap()

◆ ~CColouredOctoMap()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ calcNumNodes()

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ castRay()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ getAs3DObject()

◆ getAsOctoMapVoxels()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClampingThresMax()

◆ getClampingThresMaxLog()

◆ getClampingThresMin()

◆ getClampingThresMinLog()

◆ getClassName()

◆ getMetricMax() [1/2]

◆ getMetricMax() [2/2]

◆ getMetricMin() [1/2]

◆ getMetricMin() [2/2]

◆ getMetricSize() [1/2]

◆ getMetricSize() [2/2]

◆ getNumLeafNodes()

◆ getOccupancyThres()

◆ getOccupancyThresLog()

◆ getOctomap()

◆ getPointColour()

◆ getPointOccupancy()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ getResolution()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getTreeDepth()

◆ getVoxelColourMethod()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ insertPointCloud()

◆ insertRay()

◆ internal_build_PointCloud_for_observation()

◆ internal_clear()

◆ internal_CreateFromMapDefinition()