class mrpt::maps::CColouredOctoMap

Overview

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.

The octomap library was presented in [8]

See also:

CMetricMap, the example in “MRPT/mrpt_examples_cpp/octomap_simple”

#include <mrpt/maps/CColouredOctoMap.h>

class CColouredOctoMap: public mrpt::maps::COctoMapBase
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CColouredOctoMap> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CColouredOctoMap> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CColouredOctoMap> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CColouredOctoMap> ConstUniquePtr;

    // enums

    enum TColourUpdate;

    // structs

    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CColouredOctoMap";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CColouredOctoMap,colourOctoMap,colorOctoMap" ,& mrpt::maps::CColouredOctoMap ::MapDefinition,& mrpt::maps::CColouredOctoMap ::internal_CreateFromMapDefinition);

    // construction

    CColouredOctoMap(const double resolution = 0.10);

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition();
    static std::shared_ptr<CColouredOctoMap> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);

    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
        );

    void updateVoxel(const double x, const double y, const double z, bool occupied);
    bool isPointWithinOctoMap(const float x, const float y, const float z) const;
    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);
    void getMetricSize(double& x, double& y, double& z) const;
    void getMetricMin(double& x, double& y, double& z);
    void getMetricMin(double& x, double& y, double& z) const;
    void getMetricMax(double& x, double& y, double& z);
    void getMetricMax(double& x, double& y, double& z) const;
    size_t calcNumNodes() const;
    size_t getNumLeafNodes() const;
    virtual void setOccupancyThres(double prob);
    virtual void setProbHit(double prob);
    virtual void setProbMiss(double prob);
    virtual void setClampingThresMin(double thresProb);
    virtual void setClampingThresMax(double thresProb);
    virtual double getOccupancyThres() const;
    virtual float getOccupancyThresLog() const;
    virtual double getProbHit() const;
    virtual float getProbHitLog() const;
    virtual double getProbMiss() const;
    virtual float getProbMissLog() const;
    virtual double getClampingThresMin() const;
    virtual float getClampingThresMinLog() const;
    virtual double getClampingThresMax() const;
    virtual float getClampingThresMaxLog() const;

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

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

    void setVoxelColourMethod(TColourUpdate new_method);
    TColourUpdate getVoxelColourMethod();
    virtual void getAsOctoMapVoxels(mrpt::viz::COctoMapVoxels& gl_obj) const;
    virtual bool isEmpty() const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CMetricMap> Ptr;
    typedef std::shared_ptr<const CMetricMap> ConstPtr;
    typedef COctoMapBase<octree_t, octree_node_t> myself_t;

    // structs

    struct TInsertionOptions;
    struct TLikelihoodOptions;
    struct TRenderingOptions;

    // fields

    TMapGenericParams genericMapParams;
    TInsertionOptions insertionOptions;
    TLikelihoodOptions likelihoodOptions;
    TRenderingOptions renderingOptions;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual std::string asString() const = 0;
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    std::shared_ptr<mrpt::viz::CSetOfObjects> getVisualization() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    virtual bool isEmpty() const = 0;
    virtual auto boundingBox() const;
    void loadFromSimpleMap(const mrpt::maps::CSimpleMap& Map);
    bool insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    bool insertObservationPtr(const mrpt::obs::CObservation::Ptr& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    double computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation& obs) const;
    double computeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf, const mrpt::poses::CPose3D& takenFrom);
    bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf) const;

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

    virtual void determineMatching3D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual void auxParticleFilterCleanUp();
    virtual float squareDistanceToClosestCorrespondence(float x0, float y0) const;
    OptionsCapable& operator = (const OptionsCapable&);
    OptionsCapable& operator = (OptionsCapable&&);
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName() = 0;
    virtual bool trySetCreationOptions(] const mrpt::config::CConfigFileBase& cfg, ] const std::string& section);

    template <class OCTOMAP_CLASS>
    OCTOMAP_CLASS& getOctomap();

    virtual std::string asString() const;
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName();
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const;
    virtual void getAsOctoMapVoxels(mrpt::viz::COctoMapVoxels& gl_obj) const = 0;
    bool getPointOccupancy(const float x, const float y, const float z, double& prob_occupancy) const;
    std::optional<double> getPointOccupancy(float x, float y, float z) const;

    void insertPointCloud(
        const CPointsMap& ptMap,
        const float sensor_x,
        const float sensor_y,
        const float sensor_z
        );

    bool castRay(
        const mrpt::math::TPoint3D& origin,
        const mrpt::math::TPoint3D& direction,
        mrpt::math::TPoint3D& end,
        bool ignoreUnknownCells = false,
        double maxRange = -1.0
        ) const;

    virtual void setOccupancyThres(double prob) = 0;
    virtual void setProbHit(double prob) = 0;
    virtual void setProbMiss(double prob) = 0;
    virtual void setClampingThresMin(double thresProb) = 0;
    virtual void setClampingThresMax(double thresProb) = 0;
    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;

Typedefs

typedef std::shared_ptr<mrpt::maps ::CColouredOctoMap> Ptr

A type for the associated smart pointer.

Fields

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

ID used to initialize class registration (just ignore it)

Construction

CColouredOctoMap(const double resolution = 0.10)

Default constructor.

Methods

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

Returns information about the class of an object in runtime.

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

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

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CColouredOctoMap> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

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

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.

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.

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”)

size_t size() const

Returns:

The number of nodes in the tree

size_t memoryUsage() const

Returns:

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

size_t memoryUsageNode() const

Returns:

Memory usage of the a single octree node

size_t memoryFullGrid() const

Returns:

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

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

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

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

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

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

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

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

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

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

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

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

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

size_t calcNumNodes() const

Traverses the tree to calculate the total number of nodes.

size_t getNumLeafNodes() const

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

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.

Returns:

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

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)

void setVoxelColourMethod(TColourUpdate new_method)

Set the method used to update voxels colour.

TColourUpdate getVoxelColourMethod()

Get the method used to update voxels colour.

virtual void getAsOctoMapVoxels(mrpt::viz::COctoMapVoxels& gl_obj) const

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

virtual bool isEmpty() const

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