mrpt::maps::CColouredOctoMap Class Reference

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 33 of file maps/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...
typedef COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >	myself_t
	The type of this MRPT class. More...

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) throw ()
void	operator delete[] (void *ptr) throw ()
void	operator delete (void *memory, void *ptr) throw ()
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void	operator delete (void *ptr, const std::nothrow_t &) throw ()
	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 MRPT_OVERRIDE
	Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More...
virtual bool	isEmpty () const MRPT_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 MRPT_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::CSetOfObjectsPtr &outObj) const MRPT_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)
	Load the map contents from a CSimpleMap object, erasing all previous content of the 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::CObservationPtr &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::CObservationPtr &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::utils::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::utils::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...
CObject *	clone () const
	Cloning interface for smart pointers. 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) MRPT_OVERRIDE
void	setProbHit (double prob) MRPT_OVERRIDE
void	setProbMiss (double prob) MRPT_OVERRIDE
void	setClampingThresMin (double thresProb) MRPT_OVERRIDE
void	setClampingThresMax (double thresProb) MRPT_OVERRIDE
double	getOccupancyThres () const MRPT_OVERRIDE
float	getOccupancyThresLog () const MRPT_OVERRIDE
double	getProbHit () const MRPT_OVERRIDE
float	getProbHitLog () const MRPT_OVERRIDE
double	getProbMiss () const MRPT_OVERRIDE
float	getProbMissLog () const MRPT_OVERRIDE
double	getClampingThresMin () const MRPT_OVERRIDE
float	getClampingThresMinLog () const MRPT_OVERRIDE
double	getClampingThresMax () const MRPT_OVERRIDE
float	getClampingThresMaxLog () const MRPT_OVERRIDE
RTTI classes and functions
mrpt::utils::CObjectPtr	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 observations in the map. More...
TLikelihoodOptions	likelihoodOptions
TRenderingOptions	renderingOptions
TMapGenericParams	genericMapParams
	Common params to all maps. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMetricMap
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
virtual void	internal_clear () MRPT_OVERRIDE
	Internal method called by clear() More...
bool	internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_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...
	PIMPL_DECLARE_TYPE (octomap::ColorOcTree, m_octomap)
	The actual octo-map object. 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
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Protected Attributes
TColourUpdate	m_colour_method

RTTI stuff
typedef CColouredOctoMapPtr	Ptr
typedef CColouredOctoMapPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CColouredOctoMap
static mrpt::utils::TRuntimeClassId	classCColouredOctoMap
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
static mrpt::utils::CObject *	CreateObject ()
static CColouredOctoMapPtr	Create ()

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

typedef CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::ConstPtr

Definition at line 36 of file maps/CColouredOctoMap.h.

myself_t

typedef COctoMapBase<octomap::ColorOcTree , octomap::ColorOcTreeNode > mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::myself_t

inherited

The type of this MRPT class.

Definition at line 46 of file maps/COctoMapBase.h.

Ptr

typedef CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::Ptr

A typedef for the associated smart pointer

Definition at line 36 of file maps/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 48 of file maps/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 96 of file CColouredOctoMap.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::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 232 of file maps/CMetricMap.h.

calcNumNodes()

size_t CColouredOctoMap::calcNumNodes

(

)

const

Traverses the tree to calculate the total number of nodes.

Definition at line 414 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 189 of file CMetricMap.cpp.

canComputeObservationLikelihood() [2/2]

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  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.

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 94 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 213 of file COctoMapBase_impl.h.

clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 34 of file CMetricMap.cpp.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::maps::CWirelessPowerGridMap2D::CWirelessPowerGridMap2D(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::maps::CPointsMap::load2Dor3D_from_text_file(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CRandomFieldGridMap2D::setSize(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

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 168 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 196 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 86 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 75 of file CMetricMap.cpp.

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

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

Create()

static CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::Create ( )

static

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::utils::CObject* mrpt::maps::CColouredOctoMap::CreateObject ( )

static

determineMatching2D()

void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose2D &  otherMapPose, mrpt::utils::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 132 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::utils::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 150 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

duplicate()

virtual mrpt::utils::CObject* mrpt::maps::CColouredOctoMap::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

getAs3DObject()

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

inlinevirtualinherited

Returns a 3D object representing the map.

See also

renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 187 of file maps/COctoMapBase.h.

getAsOctoMapVoxels()

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

virtual

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

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

Definition at line 316 of file CColouredOctoMap.cpp.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::opengl::COctoMapVoxels::clear(), mrpt::utils::TColorf::G, mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled(), PIMPL_GET_REF, mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::utils::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 240 of file maps/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 241 of file maps/CMetricMap.h.

getClampingThresMax()

double CColouredOctoMap::getClampingThresMax ( ) const

virtual

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

Definition at line 429 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getClampingThresMaxLog()

float CColouredOctoMap::getClampingThresMaxLog ( ) const

virtual

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

Definition at line 430 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getClampingThresMin()

double CColouredOctoMap::getClampingThresMin ( ) const

virtual

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

Definition at line 427 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getClampingThresMinLog()

float CColouredOctoMap::getClampingThresMinLog ( ) const

virtual

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

Definition at line 428 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 412 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 413 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

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 410 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 411 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

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 408 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 409 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

getNumLeafNodes()

size_t CColouredOctoMap::getNumLeafNodes

(

)

const

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

Definition at line 415 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

getOccupancyThres()

double CColouredOctoMap::getOccupancyThres ( ) const

virtual

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

Definition at line 421 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getOccupancyThresLog()

float CColouredOctoMap::getOccupancyThresLog ( ) const

virtual

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

Definition at line 422 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 59 of file maps/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 279 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 185 of file COctoMapBase_impl.h.

getProbHit()

double CColouredOctoMap::getProbHit ( ) const

virtual

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

Definition at line 423 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getProbHitLog()

float CColouredOctoMap::getProbHitLog ( ) const

virtual

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

Definition at line 424 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getProbMiss()

double CColouredOctoMap::getProbMiss ( ) const

virtual

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

Definition at line 425 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getProbMissLog()

float CColouredOctoMap::getProbMissLog ( ) const

virtual

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

Definition at line 426 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

getResolution()

double CColouredOctoMap::getResolution

(

)

const

Definition at line 401 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

getTreeDepth()

unsigned int CColouredOctoMap::getTreeDepth

(

)

const

Definition at line 402 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

getVoxelColourMethod()

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

inline

Get the method used to update voxels colour.

Definition at line 66 of file maps/CColouredOctoMap.h.

hasSubscribers()

bool mrpt::utils::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 52 of file CObservable.h.

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 102 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

insertObservationPtr()

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservationPtr &  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 118 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 200 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 387 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 22 of file COctoMapBase_impl.h.

internal_clear()

void CColouredOctoMap::internal_clear ( )

protectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 431 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

internal_CreateFromMapDefinition()

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

static

Definition at line 71 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  )

protectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 165 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::Create(), mrpt::opengl::CPointCloudColoured::TPointColour::G, IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), PIMPL_GET_REF, 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.

isEmpty()

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

inlinevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 77 of file maps/CColouredOctoMap.h.

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 395 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

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 automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" 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 48 of file CMetricMap.cpp.

References mrpt::utils::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by run_test_pf_localization().

loadFromSimpleMap()

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

inlineinherited

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

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" 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 105 of file maps/CMetricMap.h.

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 406 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

memoryUsage()

size_t CColouredOctoMap::memoryUsage

(

)

const

Returns

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

Definition at line 404 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

memoryUsageNode()

size_t CColouredOctoMap::memoryUsageNode

(

)

const

Returns

Memory usage of the a single octree node

Definition at line 405 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

operator delete() [1/3]

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator delete() [2/3]

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator delete() [3/3]

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator delete[]()

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator new() [1/3]

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

inlinestatic

Definition at line 36 of file maps/CColouredOctoMap.h.

operator new() [2/3]

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator new() [3/3]

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

operator new[]()

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

inline

Definition at line 36 of file maps/CColouredOctoMap.h.

PIMPL_DECLARE_TYPE()

mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::PIMPL_DECLARE_TYPE ( octomap::ColorOcTree  , m_octomap    )

protectedinherited

The actual octo-map object.

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 49 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().

readFromStream()

void CColouredOctoMap::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 130 of file CColouredOctoMap.cpp.

References mrpt::utils::clear(), mrpt::system::deleteFile(), mrpt::system::getTempFileName(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, PIMPL_GET_REF, mrpt::utils::CMemoryChunk::readFromStream(), THROW_EXCEPTION, and version.

saveMetricMapRepresentationToFile()

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix ) const

virtualinherited

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 132 of file COctoMapBase_impl.h.

setClampingThresMax()

void CColouredOctoMap::setClampingThresMax ( double  thresProb )

virtual

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

Definition at line 420 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

setClampingThresMin()

void CColouredOctoMap::setClampingThresMin ( double  thresProb )

virtual

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

Definition at line 419 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

setOccupancyThres()

void CColouredOctoMap::setOccupancyThres ( double  prob )

virtual

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

Definition at line 416 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

setProbHit()

void CColouredOctoMap::setProbHit ( double  prob )

virtual

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

Definition at line 417 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

setProbMiss()

void CColouredOctoMap::setProbMiss ( double  prob )

virtual

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

Definition at line 418 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

setVoxelColourMethod()

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

inline

Set the method used to update voxels colour.

Definition at line 63 of file maps/CColouredOctoMap.h.

size()

size_t CColouredOctoMap::size

(

)

const

Returns

The number of nodes in the tree

Definition at line 403 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

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 178 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 391 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

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 297 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF, and THROW_EXCEPTION.

volume()

double CColouredOctoMap::volume

(

)

Definition at line 407 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

writeToMatlab()

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

writeToStream()

void CColouredOctoMap::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 105 of file CColouredOctoMap.cpp.

References mrpt::system::deleteFile(), mrpt::system::getTempFileName(), mrpt::utils::CMemoryStream::loadBufferFromFile(), PIMPL_GET_REF, and version.

Member Data Documentation

_init_CColouredOctoMap

mrpt::utils::CLASSINIT mrpt::maps::CColouredOctoMap::_init_CColouredOctoMap

staticprotected

Definition at line 36 of file maps/CColouredOctoMap.h.

classCColouredOctoMap

mrpt::utils::TRuntimeClassId mrpt::maps::CColouredOctoMap::classCColouredOctoMap

static

Definition at line 36 of file maps/CColouredOctoMap.h.

classCMetricMap

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap

staticinherited

Definition at line 57 of file maps/CMetricMap.h.

classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::maps::CColouredOctoMap::classinfo

static

Definition at line 36 of file maps/CColouredOctoMap.h.

genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 227 of file maps/CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CReflectivityGridMap2D::writeToStream().

insertionOptions

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

inherited

The options used when inserting observations in the map.

Definition at line 134 of file maps/COctoMapBase.h.

likelihoodOptions

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

inherited

Definition at line 155 of file maps/COctoMapBase.h.

m_colour_method

TColourUpdate mrpt::maps::CColouredOctoMap::m_colour_method

protected

Definition at line 138 of file maps/CColouredOctoMap.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 74 of file maps/CColouredOctoMap.h.

renderingOptions

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

inherited

Definition at line 182 of file maps/COctoMapBase.h.