An AbstractOcTree which stores an internal counter per node / volume. More...
#include <CountingOcTree.h>
Inheritance diagram for octomap::CountingOcTree:
Collaboration diagram for octomap::CountingOcTree:
Data Structures | |
| class | StaticMemberInitializer |
| Static member object which ensures that this OcTree's prototype ends up in the classIDMapping only once. More... | |
Public Types | |
| typedef leaf_iterator | iterator |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. | |
Public Member Functions | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values) | |
| key_type | adjustKeyAtDepth (key_type key, unsigned int depth) const |
| Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value) | |
| iterator | begin (unsigned char maxDepth=0) const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. | |
| void | clear () |
| Deletes the complete tree structure. | |
| void | clearKeyRays () |
| Clear KeyRay vector to minimize unneeded memory. | |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. | |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. | |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. | |
| key_type | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. | |
| key_type | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. | |
| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. | |
| bool | coordToKeyChecked (double coordinate, key_type &key) const |
| Converts a single coordinate into a discrete addressing key, with boundary checking. | |
| bool | coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const |
| Converts a single coordinate into a discrete addressing key, with boundary checking. | |
| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. | |
| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. | |
| CountingOcTree (double resolution) | |
| Default constructor, sets resolution of leafs. | |
| OcTreeBase< CountingOcTreeNode > * | create () const |
| virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler) | |
| NODE * | createNodeChild (NODE *node, unsigned int childIdx) |
| Creates (allocates) the i-th child of the node. | |
| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
| Delete a node (if exists) given an addressing key. | |
| bool | deleteNode (const point3d &value, unsigned int depth=0) |
| Delete a node (if exists) given a 3d point. | |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| Delete a node (if exists) given a 3d point. | |
| void | deleteNodeChild (NODE *node, unsigned int childIdx) |
| Deletes the i-th child of the node. | |
| const iterator | end () const |
| const leaf_iterator | end_leafs () const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| const tree_iterator | end_tree () const |
| virtual void | expand () |
| Expands all pruned nodes (reverse of prune()) | |
| virtual void | expandNode (NODE *node) |
| Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value. | |
| void | getCentersMinHits (point3d_list &node_centers, unsigned int min_hits) const |
| virtual 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 | |
| virtual 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 | |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. | |
| const NODE * | getNodeChild (const NODE *node, unsigned int childIdx) const |
| NODE * | getNodeChild (NODE *node, unsigned int childIdx) const |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. | |
| double | getResolution () const |
| NODE * | getRoot () const |
| unsigned int | getTreeDepth () const |
| std::string | getTreeType () const |
| returns actual class name as string for identification | |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box | |
| virtual bool | isNodeCollapsible (const NODE *node) const |
| A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. | |
| point3d | keyToCoord (const OcTreeKey &key) const |
| converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center | |
| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| converts from an addressing key at a given depth into a coordinate corresponding to the key's center | |
| double | keyToCoord (key_type key) const |
| converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center | |
| double | keyToCoord (key_type key, unsigned depth) const |
| converts from a discrete key at a given depth into a coordinate corresponding to the key's center | |
| unsigned long long | memoryFullGrid () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| bool | nodeChildExists (const NODE *node, unsigned int childIdx) const |
| Safe test if node has a child at index childIdx. | |
| bool | nodeHasChildren (const NODE *node) const |
| Safe test if node has any children. | |
| bool | operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const |
| Comparison between two octrees, all meta data, all nodes, and the structure must be identical. | |
| virtual void | prune () |
| Lossless compression of the octree: A node will replace all of its eight children if they have identical values. | |
| virtual bool | pruneNode (NODE *node) |
| Prunes a node when it is collapsible. | |
| std::istream & | readData (std::istream &s) |
| Read all nodes from the input stream (without file header), for this the tree needs to be already created. | |
| NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
| Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space. | |
| NODE * | search (const point3d &value, unsigned int depth=0) const |
| Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space. | |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| Search node at specified depth given a 3d point (depth=0: search full tree depth). | |
| void | setResolution (double r) |
| Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale! | |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< NODE, INTERFACE > &rhs) |
| Swap contents of two octrees, i.e., only the underlying pointer / tree structure. | |
| CountingOcTreeNode * | updateNode (const OcTreeKey &k) |
| virtual CountingOcTreeNode * | updateNode (const point3d &value) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression) | |
Protected Member Functions | |
| void | allocNodeChildren (NODE *node) |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. | |
| void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
| void | deleteNodeRecurs (NODE *node) |
| Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size. | |
| bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() | |
| void | getCentersMinHitsRecurs (point3d_list &node_centers, unsigned int &min_hits, unsigned int max_depth, CountingOcTreeNode *node, unsigned int depth, const OcTreeKey &parent_key) const |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() | |
| std::istream & | readNodesRecurs (NODE *, std::istream &s) |
| recursive call of readData() | |
| std::ostream & | writeNodesRecurs (const NODE *, std::ostream &s) const |
| recursive call of writeData() | |
Protected Attributes | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z | |
| double | min_value [3] |
| min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) | |
| double | resolution |
| in meters | |
| double | resolution_factor |
| = 1. / resolution | |
| NODE * | root |
| Pointer to the root NODE, NULL for empty tree. | |
| bool | size_changed |
| std::vector< double > | sizeLookupTable |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
| number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval) | |
Static Protected Attributes | |
| static StaticMemberInitializer | countingOcTreeMemberInit |
| static member to ensure static initialization (only once) | |
Detailed Description
An AbstractOcTree which stores an internal counter per node / volume.
Count is recursive, parent nodes have the summed count of their children.
- Note
- Was only used internally, not used anymore
Member Typedef Documentation
◆ iterator
|
inherited |
◆ NodeType
|
inherited |
Make the templated NODE type available from the outside.
Constructor & Destructor Documentation
◆ CountingOcTree()
| octomap::CountingOcTree::CountingOcTree | ( | double | resolution | ) |
Default constructor, sets resolution of leafs.
implementation of CountingOcTree -----------------------------------—
References countingOcTreeMemberInit, and octomap::CountingOcTree::StaticMemberInitializer::ensureLinking().
Member Function Documentation
◆ adjustKeyAtDepth() [1/2]
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inlineinherited |
Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
- Parameters
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns
- Key for the new depth level
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth().
◆ adjustKeyAtDepth() [2/2]
|
inherited |
Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)
- Parameters
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns
- Key for the new depth level
◆ allocNodeChildren()
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protectedinherited |
◆ begin()
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inlineinherited |
- Returns
- beginning of the tree as leaf iterator
Referenced by boundingBoxTest(), and main().
◆ begin_leafs()
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inlineinherited |
- Returns
- beginning of the tree as leaf iterator
Referenced by boundingBoxTest(), octomap::OcTreeStamped::degradeOutdatedNodes(), and main().
◆ begin_leafs_bbx() [1/2]
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inlineinherited |
- Returns
- beginning of the tree as leaf iterator in a bounding box
Referenced by boundingBoxTest(), and main().
◆ begin_leafs_bbx() [2/2]
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inlineinherited |
- Returns
- beginning of the tree as leaf iterator in a bounding box
◆ begin_tree()
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inlineinherited |
- Returns
- beginning of the tree as iterator to all nodes (incl. inner)
Referenced by calcThresholdedNodes(), main(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().
◆ calcMinMax()
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protectedinherited |
recalculates min and max in x, y, z. Does nothing when tree size didn't change.
◆ calcNumNodes()
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inherited |
Traverses the tree to calculate the total number of nodes.
Referenced by main(), and octomap::OccupancyOcTreeBase< NODE >::readBinaryData().
◆ calcNumNodesRecurs()
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protectedinherited |
◆ clear()
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inherited |
Deletes the complete tree structure.
Referenced by main().
◆ clearKeyRays()
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inlineinherited |
Clear KeyRay vector to minimize unneeded memory.
This is only useful for the StaticMemberInitializer classes, don't call it for an octree that is actually used.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyrays.
Referenced by octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), and octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer().
◆ computeRay()
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inherited |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Note
- : use the faster computeRayKeys method if possible.
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::end().
◆ computeRayKeys()
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inherited |
Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
References octomap::KeyRay::addKey(), octomath::Vector3::norm(), OCTOMAP_WARNING_STR, octomap::KeyRay::reset(), octomap::KeyRay::size(), and octomap::KeyRay::sizeMax().
◆ coordToKey() [1/6]
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().
◆ coordToKey() [2/6]
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.
◆ coordToKey() [3/6]
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inlineinherited |
Converts from a single coordinate into a discrete key.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution_factor, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().
◆ coordToKey() [4/6]
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inlineinherited |
Converts from a single coordinate into a discrete key at a given depth.
◆ coordToKey() [5/6]
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().
◆ coordToKey() [6/6]
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.
◆ coordToKeyChecked() [1/6]
|
inherited |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters
-
coord 3d coordinate of a point key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
Referenced by octomap::ColorOcTree::averageNodeColor(), boundingBoxTest(), octomap::ColorOcTree::integrateNodeColor(), main(), octomap::ColorOcTree::setNodeColor(), and updateNode().
◆ coordToKeyChecked() [2/6]
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inherited |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters
-
coord 3d coordinate of a point depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
◆ coordToKeyChecked() [3/6]
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inherited |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters
-
coordinate 3d coordinate of a point key discrete 16 bit adressing key, result
- Returns
- true if coordinate is within the octree bounds (valid), false otherwise
◆ coordToKeyChecked() [4/6]
|
inherited |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters
-
coordinate 3d coordinate of a point depth level of the key from the top key discrete 16 bit adressing key, result
- Returns
- true if coordinate is within the octree bounds (valid), false otherwise
◆ coordToKeyChecked() [5/6]
|
inherited |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters
-
x y z key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
◆ coordToKeyChecked() [6/6]
|
inherited |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters
-
x y z depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
◆ create()
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inlineinherited |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
◆ createNodeChild()
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inherited |
Creates (allocates) the i-th child of the node.
- Returns
- ptr to newly create NODE
Referenced by main(), and updateNode().
◆ deleteNode() [1/3]
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inherited |
Delete a node (if exists) given an addressing key.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
◆ deleteNode() [2/3]
|
inherited |
Delete a node (if exists) given a 3d point.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
◆ deleteNode() [3/3]
|
inherited |
Delete a node (if exists) given a 3d point.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
References OCTOMAP_ERROR_STR.
◆ deleteNodeChild()
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inherited |
Deletes the i-th child of the node.
Referenced by main(), and octomap::ColorOcTree::pruneNode().
◆ deleteNodeRecurs() [1/2]
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protectedinherited |
Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size.
◆ deleteNodeRecurs() [2/2]
|
protectedinherited |
recursive call of deleteNode()
References octomap::computeChildIdx().
◆ end()
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inlineinherited |
- Returns
- end of the tree as leaf iterator
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end.
Referenced by boundingBoxTest(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRay(), octomap::OcTreeStamped::degradeOutdatedNodes(), main(), and octomap::ColorOcTree::writeColorHistogram().
◆ end_leafs()
|
inlineinherited |
- Returns
- end of the tree as leaf iterator
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end.
Referenced by boundingBoxTest(), octomap::OcTreeStamped::degradeOutdatedNodes(), and main().
◆ end_leafs_bbx()
|
inlineinherited |
- Returns
- end of the tree as leaf iterator in a bounding box
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_bbx_end.
Referenced by boundingBoxTest(), and main().
◆ end_tree()
|
inlineinherited |
- Returns
- end of the tree as iterator to all nodes (incl. inner)
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_iterator_end.
Referenced by calcThresholdedNodes(), main(), printChanges(), and octomap::ColorOcTree::writeColorHistogram().
◆ expand()
|
virtualinherited |
Expands all pruned nodes (reverse of prune())
- Note
- This is an expensive operation, especially when the tree is nearly empty!
Referenced by boundingBoxTest(), main(), and printChanges().
◆ expandNode()
|
virtualinherited |
Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.
You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)
Referenced by main().
◆ expandRecurs()
|
protectedinherited |
recursive call of expand()
◆ getCentersMinHits()
| void octomap::CountingOcTree::getCentersMinHits | ( | point3d_list & | node_centers, |
| unsigned int | min_hits | ||
| ) | const |
◆ getCentersMinHitsRecurs()
|
protected |
References octomap::computeChildKey(), getCentersMinHitsRecurs(), octomap::CountingOcTreeNode::getCount(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeChild(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::nodeChildExists(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::nodeHasChildren(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.
Referenced by getCentersMinHits(), and getCentersMinHitsRecurs().
◆ getMetricMax() [1/2]
|
virtualinherited |
maximum value of the bounding box of all known space in x, y, z
Referenced by boundingBoxTest().
◆ getMetricMax() [2/2]
|
inherited |
maximum value of the bounding box of all known space in x, y, z
◆ getMetricMin() [1/2]
|
virtualinherited |
minimum value of the bounding box of all known space in x, y, z
Referenced by boundingBoxTest().
◆ getMetricMin() [2/2]
|
inherited |
minimum value of the bounding box of all known space in x, y, z
◆ getMetricSize() [1/2]
|
virtualinherited |
Size of OcTree (all known space) in meters for x, y and z dimension.
Referenced by main(), and outputStatistics().
◆ getMetricSize() [2/2]
|
virtualinherited |
Size of OcTree (all known space) in meters for x, y and z dimension.
◆ getNodeChild() [1/2]
|
inherited |
- Returns
- const ptr to child number childIdx of node
◆ getNodeChild() [2/2]
|
inherited |
- Returns
- ptr to child number childIdx of node
Referenced by getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), octomap::ColorOcTree::pruneNode(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and updateNode().
◆ getNodeSize()
|
inlineinherited |
◆ getNumLeafNodes()
|
inherited |
Traverses the tree to calculate the total number of leaf nodes.
Referenced by main(), and outputStatistics().
◆ getNumLeafNodesRecurs()
|
protectedinherited |
◆ getResolution()
|
inlineinherited |
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution.
Referenced by getLeafNodesRecurs(), getVoxelsRecurs(), and main().
◆ getRoot()
|
inlineinherited |
- Returns
- Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself. In an empty tree, root is NULL.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::root.
Referenced by main().
◆ getTreeDepth()
|
inlineinherited |
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth.
Referenced by main().
◆ getTreeType()
|
inlineinherited |
returns actual class name as string for identification
◆ getUnknownLeafCenters()
|
inherited |
return centers of leafs that do NOT exist (but could) in a given bounding box
References octomath::Vector3::x(), octomath::Vector3::y(), and octomath::Vector3::z().
◆ init()
|
protectedinherited |
initialize non-trivial members, helper for constructors
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl().
◆ isNodeCollapsible()
|
virtualinherited |
A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.
◆ keyToCoord() [1/4]
|
inlineinherited |
converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord().
◆ keyToCoord() [2/4]
|
inlineinherited |
converts from an addressing key at a given depth into a coordinate corresponding to the key's center
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord().
◆ keyToCoord() [3/4]
|
inlineinherited |
converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.
◆ keyToCoord() [4/4]
|
inherited |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
Referenced by getCentersMinHitsRecurs(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord(), and main().
◆ memoryFullGrid()
|
inherited |
- Returns
- Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
- Note
- this can be larger than the adressable memory - size_t may not be enough to hold it!
Referenced by main(), and outputStatistics().
◆ memoryUsage()
|
virtualinherited |
- Returns
- Memory usage of the complete octree in bytes (may vary between architectures)
Referenced by main(), and outputStatistics().
◆ memoryUsageNode()
|
inlinevirtualinherited |
- Returns
- Memory usage of a single octree node
◆ nodeChildExists()
|
inherited |
Safe test if node has a child at index childIdx.
First tests if there are any children. Replaces node->childExists(...)
- Returns
- true if the child at childIdx exists
Referenced by getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), main(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and updateNode().
◆ nodeHasChildren()
|
inherited |
Safe test if node has any children.
Replaces node->hasChildren(...)
- Returns
- true if node has at least one child
Referenced by boundingBoxTest(), getCentersMinHitsRecurs(), getLeafNodesRecurs(), getVoxelsRecurs(), octomap::ColorOcTree::isNodeCollapsible(), main(), and octomap::ColorOcTree::updateInnerOccupancyRecurs().
◆ operator==()
|
inherited |
Comparison between two octrees, all meta data, all nodes, and the structure must be identical.
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val.
◆ prune()
|
virtualinherited |
Lossless compression of the octree: A node will replace all of its eight children if they have identical values.
You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.
Referenced by main(), and printChanges().
◆ pruneNode()
|
virtualinherited |
◆ pruneRecurs()
|
protectedinherited |
recursive call of prune()
◆ readData()
|
inherited |
Read all nodes from the input stream (without file header), for this the tree needs to be already created.
For general file IO, you should probably use AbstractOcTree::read() instead.
References OCTOMAP_ERROR_STR, and OCTOMAP_WARNING_STR.
Referenced by main().
◆ readNodesRecurs()
|
protectedinherited |
recursive call of readData()
◆ search() [1/3]
|
inherited |
Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
◆ search() [2/3]
|
inherited |
Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
References OCTOMAP_ERROR_STR.
◆ search() [3/3]
|
inherited |
Search node at specified depth given a 3d point (depth=0: search full tree depth).
You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
Referenced by octomap::ColorOcTree::averageNodeColor(), boundingBoxTest(), octomap::ColorOcTree::integrateNodeColor(), main(), printChanges(), and octomap::ColorOcTree::setNodeColor().
◆ setResolution()
|
inherited |
Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!
Referenced by main().
◆ size()
|
inlinevirtualinherited |
- Returns
- The number of nodes in the tree
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.
Referenced by main(), and outputStatistics().
◆ swapContent()
|
inherited |
Swap contents of two octrees, i.e., only the underlying pointer / tree structure.
You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.
Referenced by main().
◆ updateNode() [1/2]
| CountingOcTreeNode * octomap::CountingOcTree::updateNode | ( | const OcTreeKey & | k | ) |
References octomap::computeChildIdx(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::createNodeChild(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeChild(), octomap::CountingOcTreeNode::increaseCount(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::nodeChildExists(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::root, octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth, and octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size.
◆ updateNode() [2/2]
|
virtual |
References octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked(), and updateNode().
Referenced by updateNode().
◆ volume()
|
inherited |
◆ writeData()
|
inherited |
Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)
◆ writeNodesRecurs()
|
protectedinherited |
recursive call of writeData()
Field Documentation
◆ countingOcTreeMemberInit
|
staticprotected |
static member to ensure static initialization (only once)
Referenced by CountingOcTree().
◆ keyrays
|
protectedinherited |
data structure for ray casting, array for multithreading
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::clearKeyRays().
◆ leaf_iterator_bbx_end
|
protectedinherited |
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx().
◆ leaf_iterator_end
|
protectedinherited |
◆ max_value
|
protectedinherited |
max in x, y, z
◆ min_value
|
protectedinherited |
min in x, y, z contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
◆ resolution
|
protectedinherited |
◆ resolution_factor
|
protectedinherited |
= 1. / resolution
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey().
◆ root
|
protectedinherited |
Pointer to the root NODE, NULL for empty tree.
Referenced by getCentersMinHits(), octomap::OcTreeStamped::getLastUpdateTime(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent(), octomap::ColorOcTree::updateInnerOccupancy(), and updateNode().
◆ size_changed
|
protectedinherited |
◆ sizeLookupTable
|
protectedinherited |
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize().
◆ tree_center
|
protectedinherited |
◆ tree_depth
|
protectedinherited |
Maximum tree depth is fixed to 16 currently.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey(), getCentersMinHits(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator==(), octomap::ColorOcTree::updateInnerOccupancyRecurs(), and updateNode().
◆ tree_iterator_end
|
protectedinherited |
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree().
◆ tree_max_val
|
protectedinherited |
◆ tree_size
|
protectedinherited |
number of nodes in tree flag to denote whether the octree extent changed (for lazy min/max eval)
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::size(), octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent(), and updateNode().
The documentation for this class was generated from the following files:
- include/octomap/CountingOcTree.h
- src/CountingOcTree.cpp
