Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::maps::CColouredOctoMap Class Referenceabstract
[mrpt-maps]

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:
Inheritance graph

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...
 
virtual double getOccupancyThres () const=0
 
virtual float getOccupancyThresLog () const=0
 
virtual double getProbHit () const=0
 
virtual float getProbHitLog () const=0
 
virtual double getProbMiss () const=0
 
virtual float getProbMissLog () const=0
 
virtual double getClampingThresMin () const=0
 
virtual float getClampingThresMinLog () const=0
 
virtual double getClampingThresMax () const=0
 
virtual float getClampingThresMaxLog () const=0
 
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)
 !This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 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)
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
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
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
virtual float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
 Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...
 
virtual void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap () const
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
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
 

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
 

Private Member Functions

virtual double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) override
 Internal method called by computeObservationLikelihood() More...
 
virtual bool internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
 Internal method called by canComputeObservationLikelihood() More...
 
virtual void OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *)
 Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More...
 
void internal_observer_begin (CObserver *)
 
void internal_observer_end (CObserver *)
 

Private Attributes

std::set< CObserver * > m_subscribers
 

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 51 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 290 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
obsThe 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
sfThe 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
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 251 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(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ 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::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.

◆ computeObservationLikelihood() [2/2]

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 189 of file CMetricMap.cpp.

Referenced by mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), and mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

◆ 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 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::CBeaconMap, and mrpt::maps::CMultiMetricMap.

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 169 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 297 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 mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlinevirtualinherited

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

Definition at line 306 of file CMetricMap.h.

◆ getAsSimplePointsMap() [2/2]

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 302 of file CMetricMap.h.

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

◆ getClampingThresMax() [1/2]

double CColouredOctoMap::getClampingThresMax ( ) const
override

Definition at line 560 of file CColouredOctoMap.cpp.

◆ getClampingThresMax() [2/2]

virtual double mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getClampingThresMax
pure virtualinherited

◆ getClampingThresMaxLog() [1/2]

float CColouredOctoMap::getClampingThresMaxLog ( ) const
override

Definition at line 564 of file CColouredOctoMap.cpp.

◆ getClampingThresMaxLog() [2/2]

virtual float mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getClampingThresMaxLog
pure virtualinherited

◆ getClampingThresMin() [1/2]

double CColouredOctoMap::getClampingThresMin ( ) const
override

Definition at line 552 of file CColouredOctoMap.cpp.

◆ getClampingThresMin() [2/2]

virtual double mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getClampingThresMin
pure virtualinherited

◆ getClampingThresMinLog() [1/2]

float CColouredOctoMap::getClampingThresMinLog ( ) const
override

Definition at line 556 of file CColouredOctoMap.cpp.

◆ getClampingThresMinLog() [2/2]

virtual float mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getClampingThresMinLog
pure virtualinherited

◆ getClassName()

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

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() [1/2]

double CColouredOctoMap::getOccupancyThres ( ) const
override

Definition at line 528 of file CColouredOctoMap.cpp.

◆ getOccupancyThres() [2/2]

virtual double mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getOccupancyThres
pure virtualinherited

◆ getOccupancyThresLog() [1/2]

float CColouredOctoMap::getOccupancyThresLog ( ) const
override

Definition at line 532 of file CColouredOctoMap.cpp.

◆ getOccupancyThresLog() [2/2]

virtual float mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getOccupancyThresLog
pure virtualinherited

◆ 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 64 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 214 of file COctoMapBase_impl.h.

◆ getProbHit() [1/2]

double CColouredOctoMap::getProbHit ( ) const
override

Definition at line 536 of file CColouredOctoMap.cpp.

◆ getProbHit() [2/2]

virtual double mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getProbHit
pure virtualinherited

◆ getProbHitLog() [1/2]

float CColouredOctoMap::getProbHitLog ( ) const
override

Definition at line 540 of file CColouredOctoMap.cpp.

◆ getProbHitLog() [2/2]

virtual float mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getProbHitLog
pure virtualinherited

◆ getProbMiss() [1/2]

double CColouredOctoMap::getProbMiss ( ) const
override

Definition at line 544 of file CColouredOctoMap.cpp.

◆ getProbMiss() [2/2]

virtual double mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getProbMiss
pure virtualinherited

◆ getProbMissLog() [1/2]

float CColouredOctoMap::getProbMissLog ( ) const
override

Definition at line 548 of file CColouredOctoMap.cpp.

◆ getProbMissLog() [2/2]

virtual float mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getProbMissLog
pure virtualinherited

◆ 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 55 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
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 95 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), TEST(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 233 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_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 37 of file COctoMapBase_impl.h.

◆ internal_canComputeObservationLikelihood()

virtual bool mrpt::maps::CMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation *  obs) const
inlineprivatevirtualinherited

Internal method called by canComputeObservationLikelihood()

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

Definition at line 75 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

◆ 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_computeObservationLikelihood()

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_computeObservationLikelihood ( const mrpt::obs::CObservation *  obs,
const mrpt::poses::CPose3D &  takenFrom 
)
overrideprivatevirtualinherited

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 185 of file COctoMapBase_impl.h.

◆ 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, mrpt::maps::CPointsMap::getPointFast(), IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::opengl::CPointCloudColoured::TPointColour::R, mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld, 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.

◆ internal_observer_begin()

void CObservable::internal_observer_begin ( CObserver *  o)
privateinherited

Definition at line 29 of file CObservable.cpp.

◆ internal_observer_end()

void CObservable::internal_observer_end ( CObserver *  o)
privateinherited

Definition at line 34 of file CObservable.cpp.

References ASSERTMSG_, MRPT_END, and MRPT_START.

◆ 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::exceptionSome 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 110 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.

◆ OnPostSuccesfulInsertObs()

virtual void mrpt::maps::CMetricMap::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation *  )
inlineprivatevirtualinherited

Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.

Reimplemented in mrpt::maps::COccupancyGridMap2D.

Definition at line 86 of file CMetricMap.h.

◆ 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)
inlinenoexcept

Definition at line 35 of file CColouredOctoMap.h.

◆ operator delete() [3/3]

void mrpt::maps::CColouredOctoMap::operator delete ( void *  ptr,
const std::nothrow_t &   
)
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 157 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
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 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::exceptionOn 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 70 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"
staticconstexpr

Definition at line 35 of file CColouredOctoMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited

Common params to all maps.

Definition at line 282 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CReflectivityGridMap2D::serializeFrom(), mrpt::maps::CHeightGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), mrpt::maps::CReflectivityGridMap2D::serializeTo(), and mrpt::maps::CHeightGridMap2D::serializeTo().

◆ insertionOptions

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

The options used when inserting.

Definition at line 225 of file COctoMapBase.h.

◆ likelihoodOptions

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

Definition at line 252 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 383 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.

◆ m_subscribers

std::set<CObserver*> mrpt::system::CObservable::m_subscribers
privateinherited

Definition at line 42 of file CObservable.h.

Referenced by mrpt::system::CObservable::hasSubscribers().

◆ renderingOptions

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

Definition at line 292 of file COctoMapBase.h.

◆ runtimeClassId

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

Definition at line 35 of file CColouredOctoMap.h.

mrpt::maps::COctoMap
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: COctoMap.h:35
mrpt::maps::COctoMapBase::getOctomap
OCTOMAP_CLASS & getOctomap()
Get a reference to the internal octomap object.
Definition: COctoMapBase.h:64


Page generated by Doxygen 1.8.17 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at mié 12 jul 2023 10:03:34 CEST