Detailed Description

template<class OCTREE, class OCTREE_NODE>
class mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.

This base class represents a 3D map where each voxel may contain an "occupancy" property, RGBD data, etc. depending on the derived class.

As with any other mrpt::slam::CMetricMap, you can obtain a 3D representation of the map calling getAs3DObject() or getAsOctoMapVoxels()

To use octomap's iterators to go through the voxels, use COctoMap::getOctomap()

The octomap library was presented in:

K. M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard, "OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems" in Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, 2010. Software available at http://octomap.sf.net/.

See also: CMetricMap, the example in "MRPT/samples/octomap_simple"

Definition at line 46 of file COctoMapBase.h.

#include <mrpt/slam/COctoMapBase.h>

Inheritance diagram for mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >:

[legend]

Classes
struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...

struct	TLikelihoodOptions
	Options used when evaluating "computeObservationLikelihood". More...

struct	TRenderingOptions
	Options for the conversion of a mrpt::slam::COctoMap into a mrpt::opengl::COctoMapVoxels. More...

Public Types
typedef COctoMapBase< OCTREE, OCTREE_NODE >	myself_t
	The type of this MRPT class. More...

typedef OCTREE	octree_t
	The type of the octree class in the "octomap" library. More...

typedef OCTREE_NODE	octree_node_t
	The type of nodes in the octree, in the "octomap" library. More...

Public Member Functions
	COctoMapBase (const double resolution=0.10)
	Constructor, defines the resolution of the octomap (length of each voxel side) More...

virtual	~COctoMapBase ()

OCTREE &	getOctomap ()
	Get a reference to the internal octomap object. More...

virtual bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted. More...

virtual double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...

virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	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
	Returns a 3D object representing the map. More...

virtual void	getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const =0
	Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. 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...

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	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...

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...

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...

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 CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. More...

virtual bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

bool	canComputeObservationLikelihood (const CObservationPtr &obs)

double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const CSensoryFrame &sf)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	determineMatching2D (const CMetricMap *otherMap, const CPose2D &otherMapPose, 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 CMetricMap *otherMap, const CPose3D &otherMapPose, 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 CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorr=0.10f, float maxMahaDistForCorr=2.0f) 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 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 CSimplePointsMap *	getAsSimplePointsMap ()

virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class. More...

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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Direct access to octomap library methods
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 () const

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...

Public Attributes
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map. More...

TLikelihoodOptions	likelihoodOptions

TRenderingOptions	renderingOptions

bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
virtual void	internal_clear ()
	Internal method called by clear() More...

bool	internal_build_PointCloud_for_observation (const CObservation obs, const CPose3D robotPose, octomap::point3d &point3d_sensorPt, octomap::Pointcloud &ptr_scan) const
	Builds the list of 3D points in global coordinates for a generic observation. More...

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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...

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...

Protected Attributes
OCTREE	m_octomap
	The actual octo-map object. More...

RTTI stuff
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId	classCMetricMap

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

Member Typedef Documentation

template<class OCTREE, class OCTREE_NODE>

typedef COctoMapBase<OCTREE,OCTREE_NODE> mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::myself_t

The type of this MRPT class.

Definition at line 49 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

typedef OCTREE_NODE mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::octree_node_t

The type of nodes in the octree, in the "octomap" library.

Definition at line 51 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

typedef OCTREE mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::octree_t

The type of the octree class in the "octomap" library.

Definition at line 50 of file COctoMapBase.h.

Constructor & Destructor Documentation

template<class OCTREE, class OCTREE_NODE>

mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::COctoMapBase ( const double resolution = 0.10 )

inline

Constructor, defines the resolution of the octomap (length of each voxel side)

Definition at line 55 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

virtual mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::~COctoMapBase ( )

inlinevirtual

Definition at line 56 of file COctoMapBase.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CMetricMap::_GetBaseClass ( )

staticprotectedinherited

virtual void mrpt::slam::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::slam::CLandmarksMap, and mrpt::slam::CMultiMetricMap.

Definition at line 284 of file CMetricMap.h.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::calcNumNodes ( ) const

inline

Traverses the tree to calculate the total number of nodes.

Definition at line 299 of file COctoMapBase.h.

virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservation * obs )

inlinevirtualinherited

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).

Parameters

obs	The observation.

See also: computeObservationLikelihood

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

Definition at line 169 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservationPtr & obs )

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool mrpt::slam::CMetricMap::canComputeObservationsLikelihood ( const CSensoryFrame & sf )

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).

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

template<class OCTREE , class OCTREE_NODE >

bool mrpt::slam::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

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 217 of file COctoMapBase_impl.h.

References octomath::Vector3::x(), mrpt::math::TPoint3D::x, octomath::Vector3::y(), mrpt::math::TPoint3D::y, octomath::Vector3::z(), and mrpt::math::TPoint3D::z.

void mrpt::slam::CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Referenced by mrpt::slam::CReflectivityGridMap2D::clear(), mrpt::slam::CHeightGridMap2D::clear(), and mrpt::slam::CRandomFieldGridMap2D::clear().

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

virtual float mrpt::slam::CMetricMap::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	maxDistForCorr = `0.10f`,
		float	maxMahaDistForCorr = `2.0f`
	)		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".
maxDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
maxMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented in mrpt::slam::COccupancyGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMultiMetricMap, mrpt::slam::CLandmarksMap, mrpt::slam::CHeightGridMap2D, mrpt::slam::CBeaconMap, and mrpt::slam::CReflectivityGridMap2D.

double mrpt::slam::CMetricMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.

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

template<class OCTREE , class OCTREE_NODE >

double mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)

virtual

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

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

Implements mrpt::slam::CMetricMap.

Definition at line 163 of file COctoMapBase_impl.h.

References octomap::Pointcloud::getPoint(), and octomap::Pointcloud::size().

double mrpt::slam::CMetricMap::computeObservationsLikelihood	(	const CSensoryFrame &	sf,
		const CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.

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

virtual void mrpt::slam::CMetricMap::determineMatching2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		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::slam::COccupancyGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CBeaconMap, and mrpt::slam::CMultiMetricMap.

virtual void mrpt::slam::CMetricMap::determineMatching3D	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		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::slam::CPointsMap.

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

pure virtualinherited

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

mrpt::utils::CObjectPtr mrpt::utils::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 136 of file CObject.h.

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

inlinevirtual

Returns a 3D object representing the map.

See also: renderingOptions

Implements mrpt::slam::CMetricMap.

Definition at line 210 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels & gl_obj ) const

pure virtual

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

See also: renderingOptions

Implemented in mrpt::slam::CColouredOctoMap, and mrpt::slam::COctoMap.

Referenced by mrpt::slam::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getAs3DObject().

virtual const CSimplePointsMap* mrpt::slam::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::slam::CPointsMap, mrpt::slam::CMultiMetricMap, and mrpt::slam::CSimplePointsMap.

Definition at line 297 of file CMetricMap.h.

virtual CSimplePointsMap* mrpt::slam::CMetricMap::getAsSimplePointsMap ( )

inlinevirtualinherited

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

Definition at line 298 of file CMetricMap.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)

inline

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

Definition at line 294 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

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

Definition at line 296 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)

inline

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

Definition at line 290 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

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

Definition at line 292 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)

inline

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

Definition at line 286 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

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

Definition at line 288 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getNumLeafNodes ( ) const

inline

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

Definition at line 302 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

OCTREE& mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getOctomap ( )

inline

Get a reference to the internal octomap object.

Example:

mrpt::maps::COctoMap  map;
...
octomap::OcTree &om = map.getOctomap();

Definition at line 67 of file COctoMapBase.h.

template<class OCTREE , class OCTREE_NODE >

bool mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getPointOccupancy	(	const float	x,
		const float	y,
		const float	z,
		double &	prob_occupancy
	)		const

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 189 of file COctoMapBase_impl.h.

template<class OCTREE, class OCTREE_NODE>

double mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getResolution ( ) const

inline

Definition at line 274 of file COctoMapBase.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CMetricMap::GetRuntimeClass ( ) const

virtualinherited

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::COccupancyGridMap2D, mrpt::slam::CHeightGridMap2D, mrpt::slam::CMultiMetricMap, mrpt::slam::CPointsMap, mrpt::slam::CLandmarksMap, mrpt::slam::CBeaconMap, mrpt::slam::CReflectivityGridMap2D, mrpt::slam::CGasConcentrationGridMap2D, mrpt::slam::COctoMap, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CColouredOctoMap, mrpt::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

template<class OCTREE, class OCTREE_NODE>

unsigned int mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::getTreeDepth ( ) const

inline

Definition at line 275 of file COctoMapBase.h.

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.

bool mrpt::slam::CMetricMap::insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes.

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

bool mrpt::slam::CMetricMap::insertObservationPtr	(	const CObservationPtr &	obs,
		const CPose3D *	robotPose = `NULL`
	)

inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

template<class OCTREE , class OCTREE_NODE >

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::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.

Insertion parameters can be found in insertionOptions.

See also: The generic observation insertion method CMetricMap::insertObservation()

Definition at line 204 of file COctoMapBase_impl.h.

References mrpt::slam::CPointsMap::getPointsBuffer(), MRPT_END, and MRPT_START.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::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
	)

inline

Just like insertPointCloud but with a single ray.

Definition at line 246 of file COctoMapBase.h.

template<class OCTREE , class OCTREE_NODE >

bool mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation	(	const CObservation *	obs,
		const CPose3D *	robotPose,
		octomap::point3d &	point3d_sensorPt,
		octomap::Pointcloud &	ptr_scan
	)		const

protected

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 21 of file COctoMapBase_impl.h.

References mrpt::slam::CObservation2DRangeScan::buildAuxPointsMap(), octomap::Pointcloud::clear(), mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::slam::CObservation3DRangeScan::hasPoints3D, IS_CLASS, mrpt::slam::CObservation3DRangeScan::load(), mrpt::slam::CObservation3DRangeScan::points3D_x, mrpt::slam::CObservation3DRangeScan::points3D_y, mrpt::slam::CObservation3DRangeScan::points3D_z, octomap::Pointcloud::push_back(), octomap::Pointcloud::reserve(), mrpt::slam::CObservation2DRangeScan::sensorPose, mrpt::slam::CObservation3DRangeScan::sensorPose, mrpt::slam::CPointsMap::size(), mrpt::poses::UNINITIALIZED_POSE, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3Df::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::internal_clear ( )

inlineprotectedvirtual

Internal method called by clear()

Implements mrpt::slam::CMetricMap.

Definition at line 308 of file COctoMapBase.h.

template<class OCTREE , class OCTREE_NODE >

bool mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::isEmpty ( ) const

virtual

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

Implements mrpt::slam::CMetricMap.

Definition at line 130 of file COctoMapBase_impl.h.

template<class OCTREE, class OCTREE_NODE>

bool mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::isPointWithinOctoMap	(	const float	x,
		const float	y,
		const float	z
	)		const

inline

Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")

Definition at line 223 of file COctoMapBase.h.

void mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations ( const 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...

void mrpt::slam::CMetricMap::loadFromSimpleMap ( const 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 131 of file CMetricMap.h.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::memoryFullGrid ( ) const

inline

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

Definition at line 283 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsage ( ) const

inline

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

Definition at line 279 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsageNode ( ) const

inline

Returns: Memory usage of the a single octree node

Definition at line 281 of file COctoMapBase.h.

void mrpt::utils::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.

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

protectedpure virtualinherited

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

template<class OCTREE , class OCTREE_NODE >

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

virtual

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::slam::CMetricMap.

Definition at line 136 of file COctoMapBase_impl.h.

References mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, and MRPT_START.

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::size ( ) const

inline

Returns: The number of nodes in the tree

Definition at line 277 of file COctoMapBase.h.

virtual float mrpt::slam::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::slam::CPointsMap.

template<class OCTREE, class OCTREE_NODE>

void mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::updateVoxel	(	const double	x,
		const double	y,
		const double	z,
		bool	occupied
	)

inline

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 234 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

double mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::volume ( ) const

inline

Definition at line 284 of file COctoMapBase.h.

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

protectedpure virtualinherited

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

Member Data Documentation

const mrpt::utils::TRuntimeClassId mrpt::slam::CMetricMap::classCMetricMap

staticinherited

Definition at line 88 of file CMetricMap.h.

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

staticinherited

Definition at line 124 of file CObject.h.

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

staticinherited

Definition at line 38 of file CSerializable.h.

template<class OCTREE, class OCTREE_NODE>

TInsertionOptions mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::insertionOptions

The options used when inserting observations in the map.

Definition at line 144 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

TLikelihoodOptions mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::likelihoodOptions

Definition at line 170 of file COctoMapBase.h.

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject

inherited

When set to true (default=false), calling "getAs3DObject" will have no effects.

Definition at line 279 of file CMetricMap.h.

template<class OCTREE, class OCTREE_NODE>

OCTREE mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap

protected

The actual octo-map object.

Definition at line 317 of file COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

TRenderingOptions mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::renderingOptions

Definition at line 205 of file COctoMapBase.h.

Detailed Description

template<class OCTREE, class OCTREE_NODE> class mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class OCTREE, class OCTREE_NODE>
class mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >