Inheritance diagram for rtabmap::OctoMap:

Collaboration diagram for rtabmap::OctoMap:

Public Member Functions
	OctoMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())

const RtabmapColorOcTree *	octree () const

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	createCloud (unsigned int treeDepth=0, std::vector< int > obstacleIndices=0, std::vector< int > emptyIndices=0, std::vector< int > groundIndices=0, bool originalRefPoints=true, std::vector< int > frontierIndices=0, std::vector< double > *cloudProb=0) const

cv::Mat	createProjectionMap (float &xMin, float &yMin, float &gridCellSize, float minGridSize=0.0f, unsigned int treeDepth=0)

bool	writeBinary (const std::string &path)

virtual void	clear ()
	Clears assembled nodes and grid bounds; does not clear LocalGridCache.

virtual unsigned long	getMemoryUsed () const
	Approximate memory used by assembled-node bookkeeping (bytes).

bool	hasColor () const

Public Member Functions inherited from rtabmap::GlobalMap
bool	fullUpdateNeeded (const std::map< int, Transform > &poses) const
	True if the map should be rebuilt from cache (loop closure or disjoint graph).

bool	update (const std::map< int, Transform > &poses)
	Incrementally assemble new nodes from `poses`.

float	getCellSize () const

float	getUpdateError () const

const std::map< int, Transform > &	addedNodes () const

void	getGridMin (double &x, double &y) const
	2D grid minimum (x, y) in meters.

void	getGridMax (double &x, double &y) const
	2D grid maximum (x, y) in meters.

void	getGridMin (double &x, double &y, double &z) const
	3D grid minimum (x, y, z) in meters.

void	getGridMax (double &x, double &y, double &z) const
	3D grid maximum (x, y, z) in meters.

Static Public Member Functions
static std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash >	findEmptyNode (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

static void	floodFill (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > &EmptyNodes, std::queue< octomap::point3d > &positionToExplore)

static bool	isNodeVisited (std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const &EmptyNodes, octomap::OcTreeKey const key)

static octomap::point3d	findCloseEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

static bool	isValidEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)

Static Public Member Functions inherited from rtabmap::GlobalMap
static float	logodds (double probability)
	Converts probability in (0, 1) to log-odds.

static double	probability (double logodds)
	Converts log-odds back to probability in (0, 1).

Protected Member Functions
virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)
	Subclass hook: merge `newPoses` into the global map; call addAssembledNode().

Protected Member Functions inherited from rtabmap::GlobalMap
	GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
	Constructs the base map; subclasses call from their constructor.

const std::map< int, LocalGrid > &	cache () const

const std::map< int, Transform > &	assembledNodes () const

bool	isNodeAssembled (int id)

void	addAssembledNode (int id, const Transform &pose)
	Records a successfully assembled node (ids <= 0 are ignored).

Additional Inherited Members
Protected Attributes inherited from rtabmap::GlobalMap
float	cellSize_

float	updateError_

float	occupancyThr_

float	logOddsHit_

float	logOddsMiss_

float	logOddsClampingMin_

float	logOddsClampingMax_

double	minValues_ [3]

double	maxValues_ [3]

Detailed Description

Definition at line 175 of file OctoMap.h.

Member Function Documentation

◆ octree()

const RtabmapColorOcTree * rtabmap::OctoMap::octree ( ) const

inline

Definition at line 179 of file OctoMap.h.

◆ clear()

virtual void rtabmap::OctoMap::clear ( )

virtual

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

Reimplemented from rtabmap::GlobalMap.

◆ getMemoryUsed()

virtual unsigned long rtabmap::OctoMap::getMemoryUsed ( ) const

virtual

Approximate memory used by assembled-node bookkeeping (bytes).

Reimplemented from rtabmap::GlobalMap.

◆ hasColor()

bool rtabmap::OctoMap::hasColor ( ) const

inline

Definition at line 203 of file OctoMap.h.

◆ assemble()

virtual void rtabmap::OctoMap::assemble ( const std::list< std::pair< int, Transform > > & newPoses )

protectedvirtual

Subclass hook: merge newPoses into the global map; call addAssembledNode().

Implements rtabmap::GlobalMap.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/global_map/OctoMap.h

Public Member Functions

Static Public Member Functions

Protected Member Functions