# enum mrpt::maps::CColouredOctoMap::TColourUpdate¶

## Overview¶

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

#include <CColouredOctoMap.h>

enum TColourUpdate
{
INTEGRATE = 0,
SET,
AVERAGE,
};

## Detailed Documentation¶

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