Definition at line 59 of file OcTreeBaseSE.h.
#include <mrpt/otherlibs/octomap/OcTreeBaseSE.h>
Public Types | |
typedef NODE | NodeType |
Make the templated NODE type available from the outside. More... | |
typedef leaf_iterator | iterator |
Public Member Functions | |
OcTreeBaseSE (double _resolution) | |
virtual | ~OcTreeBaseSE () |
bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. More... | |
NODE * | getLUTNeighbor (const point3d &value, OcTreeLUT::NeighborDirection dir) const |
OcTreeBase< NODE > * | create () const |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler) More... | |
std::string | getTreeType () const |
returns actual class name as string for identification More... | |
bool | operator== (const OcTreeBaseImpl< NODE, AbstractOcTree > &rhs) const |
void | setResolution (double r) |
Change the resolution of the octree, scaling all voxels. More... | |
double | getResolution () const |
unsigned int | getTreeDepth () const |
double | getNodeSize (unsigned depth) const |
NODE * | getRoot () const |
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) More... | |
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) More... | |
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) More... | |
bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
Delete a node (if exists) given a 3d point. More... | |
bool | deleteNode (const point3d &value, unsigned int depth=0) |
Delete a node (if exists) given a 3d point. More... | |
bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
Delete a node (if exists) given an addressing key. More... | |
void | clear () |
Deletes the complete tree structure (only the root node will remain) More... | |
virtual void | prune () |
Lossless compression of OcTree: merge children to parent when there are eight children with identical values. More... | |
virtual void | expand () |
Expands all pruned nodes (reverse of prune()) More... | |
virtual size_t | size () const |
virtual size_t | memoryUsage () const |
virtual size_t | memoryUsageNode () const |
size_t | memoryFullGrid () const |
double | volume () const |
virtual void | getMetricSize (double &x, double &y, double &z) |
Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
virtual void | getMetricSize (double &x, double &y, double &z) const |
Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
virtual 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... | |
virtual 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... | |
void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax) const |
return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
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. More... | |
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. More... | |
std::ostream & | writeData (std::ostream &s) const |
Write complete state of tree to stream (without file header) unmodified. More... | |
iterator | begin (unsigned char maxDepth=0) const |
const iterator | end () const |
leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
const leaf_iterator | end_leafs () 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 |
const leaf_bbx_iterator | end_leafs_bbx () const |
tree_iterator | begin_tree (unsigned char maxDepth=0) const |
const tree_iterator | end_tree () const |
unsigned short int | coordToKey (double coordinate) const |
Converts from a single coordinate into a discrete key. More... | |
unsigned short int | coordToKey (double coordinate, unsigned depth) const |
Converts from a single coordinate into a discrete key at a given depth. More... | |
OcTreeKey | coordToKey (const point3d &coord) const |
Converts from a 3D coordinate into a 3D addressing key. More... | |
OcTreeKey | coordToKey (double x, double y, double z) const |
Converts from a 3D coordinate into a 3D addressing key. More... | |
OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
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. More... | |
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) More... | |
unsigned short int | adjustKeyAtDepth (unsigned short int 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) More... | |
bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More... | |
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. More... | |
bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More... | |
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. More... | |
bool | coordToKeyChecked (double coordinate, unsigned short int &key) const |
Converts a single coordinate into a discrete addressing key, with boundary checking. More... | |
bool | coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const |
Converts a single coordinate into a discrete addressing key, with boundary checking. More... | |
double | keyToCoord (unsigned short int key, unsigned depth) const |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center More... | |
double | keyToCoord (unsigned short int key) const |
converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center More... | |
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 More... | |
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 More... | |
DEPRECATED (bool genKeyValue(double coordinate, unsigned short int &keyval) const) | |
DEPRECATED (bool genKey(const point3d &point, OcTreeKey &key) const ) | |
DEPRECATED (bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const ) | |
DEPRECATED (bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const ) | |
DEPRECATED (bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const ) | |
DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth) const) | |
DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord) const) | |
DEPRECATED (double genCoordFromKey(const unsigned short int &key, unsigned depth) const) | |
DEPRECATED (inline double genCoordFromKey(const unsigned short int &key) const) | |
DEPRECATED (inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const) | |
DEPRECATED (inline void genPos(const OcTreeKey &key, int depth, unsigned int &pos) const) | |
generate child index (between 0 and 7) from key at given tree depth DEPRECATED More... | |
bool | write (const std::string &filename) const |
Write file header and complete tree to file (serialization) More... | |
bool | write (std::ostream &s) const |
Write file header and complete tree to stream (serialization) More... | |
Static Public Member Functions | |
static AbstractOcTree * | createTree (const std::string id, double res) |
Creates a certain OcTree (factory pattern) More... | |
static AbstractOcTree * | read (const std::string &filename) |
Read the file header, create the appropriate class and deserialize. More... | |
static AbstractOcTree * | read (std::istream &s) |
Read the file header, create the appropriate class and deserialize. More... | |
Protected Member Functions | |
void | calcMinMax () |
recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
recursive call of deleteNode() More... | |
void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
recursive call of prune() More... | |
void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
recursive call of expand() More... | |
size_t | getNumLeafNodesRecurs (const NODE *parent) const |
Static Protected Member Functions | |
static bool | readHeader (std::istream &s, std::string &id, unsigned &size, double &res) |
static void | registerTreeType (AbstractOcTree *tree) |
Protected Attributes | |
KeyRay | keyray |
OcTreeLUT * | lut |
NODE * | root |
const unsigned int | tree_depth |
Maximum tree depth is fixed to 16 currently. More... | |
const unsigned int | tree_max_val |
double | resolution |
in meters More... | |
double | resolution_factor |
= 1. / resolution More... | |
size_t | tree_size |
number of nodes in tree More... | |
bool | size_changed |
flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
point3d | tree_center |
double | max_value [3] |
max in x, y, z More... | |
double | min_value [3] |
min in x, y, z More... | |
std::vector< double > | sizeLookupTable |
contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
const leaf_iterator | leaf_iterator_end |
const leaf_bbx_iterator | leaf_iterator_bbx_end |
const tree_iterator | tree_iterator_end |
Static Protected Attributes | |
static const std::string | fileHeader |
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inherited |
Definition at line 261 of file OcTreeBaseImpl.h.
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inherited |
Make the templated NODE type available from the outside.
Definition at line 89 of file OcTreeBaseImpl.h.
octomap::OcTreeBaseSE< NODE >::OcTreeBaseSE | ( | double | _resolution | ) |
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Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
key | Input key, at the lowest tree level |
depth | Target depth level for the new key |
Definition at line 336 of file OcTreeBaseImpl.h.
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Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)
key | Input key, at the lowest tree level |
depth | Target depth level for the new key |
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inlineinherited |
Definition at line 264 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 269 of file OcTreeBaseImpl.h.
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Definition at line 274 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 278 of file OcTreeBaseImpl.h.
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Definition at line 285 of file OcTreeBaseImpl.h.
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recalculates min and max in x, y, z. Does nothing when tree size didn't change.
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Traverses the tree to calculate the total number of nodes.
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virtualinherited |
Deletes the complete tree structure (only the root node will remain)
Implements octomap::AbstractOcTree.
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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()).
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" |
bool octomap::OcTreeBaseSE< NODE >::computeRayKeys | ( | const point3d & | origin, |
const point3d & | end, | ||
KeyRay & | ray | ||
) | const |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.
(Essentially using the DDA algorithm in 3D).
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" |
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Converts from a single coordinate into a discrete key.
Definition at line 294 of file OcTreeBaseImpl.h.
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Converts from a single coordinate into a discrete key at a given depth.
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 303 of file OcTreeBaseImpl.h.
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 308 of file OcTreeBaseImpl.h.
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 313 of file OcTreeBaseImpl.h.
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inlineinherited |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 321 of file OcTreeBaseImpl.h.
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Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
coord | 3d coordinate of a point |
key | values that will be computed, an array of fixed size 3. |
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Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
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. |
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Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
x | |
y | |
z | |
key | values that will be computed, an array of fixed size 3. |
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Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
x | |
y | |
z | |
depth | level of the key from the top |
key | values that will be computed, an array of fixed size 3. |
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Converts a single coordinate into a discrete addressing key, with boundary checking.
coordinate | 3d coordinate of a point |
key | discrete 16 bit adressing key, result |
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inherited |
Converts a single coordinate into a discrete addressing key, with boundary checking.
coordinate | 3d coordinate of a point |
depth | level of the key from the top |
key | discrete 16 bit adressing key, result |
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inlinevirtualinherited |
virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)
Implements octomap::AbstractOcTree.
Definition at line 63 of file OcTreeBase.h.
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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.
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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.
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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.
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protectedinherited |
recursive call of deleteNode()
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inlineinherited |
Definition at line 438 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 443 of file OcTreeBaseImpl.h.
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inherited |
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inlineinherited |
Definition at line 455 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 462 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 469 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 475 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 480 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 486 of file OcTreeBaseImpl.h.
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inlineinherited |
generate child index (between 0 and 7) from key at given tree depth DEPRECATED
Definition at line 493 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 266 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 271 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 282 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 287 of file OcTreeBaseImpl.h.
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Expands all pruned nodes (reverse of prune())
Implements octomap::AbstractOcTree.
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recursive call of expand()
NODE* octomap::OcTreeBaseSE< NODE >::getLUTNeighbor | ( | const point3d & | value, |
OcTreeLUT::NeighborDirection | dir | ||
) | const |
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maximum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
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virtualinherited |
maximum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
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virtualinherited |
minimum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
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virtualinherited |
minimum value of the bounding box of all known space in x, y, z
Implements octomap::AbstractOcTree.
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Size of OcTree (all known space) in meters for x, y and z dimension.
Implements octomap::AbstractOcTree.
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Size of OcTree (all known space) in meters for x, y and z dimension.
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inlineinherited |
Definition at line 111 of file OcTreeBaseImpl.h.
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Traverses the tree to calculate the total number of leaf nodes.
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inlinevirtualinherited |
Implements octomap::AbstractOcTree.
Definition at line 107 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 118 of file OcTreeBaseImpl.h.
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inlineinherited |
Definition at line 109 of file OcTreeBaseImpl.h.
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returns actual class name as string for identification
Implements octomap::AbstractOcTree.
Definition at line 64 of file OcTreeBase.h.
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return centers of leafs that do NOT exist (but could) in a given bounding box
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converts from a discrete key at a given depth into a coordinate corresponding to the key's center
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inlineinherited |
converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 421 of file OcTreeBaseImpl.h.
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inlineinherited |
converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 427 of file OcTreeBaseImpl.h.
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inlineinherited |
converts from an addressing key at a given depth into a coordinate corresponding to the key's center
Definition at line 433 of file OcTreeBaseImpl.h.
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inherited |
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virtualinherited |
Implements octomap::AbstractOcTree.
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inlinevirtualinherited |
Implements octomap::AbstractOcTree.
Definition at line 182 of file OcTreeBaseImpl.h.
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inherited |
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virtualinherited |
Lossless compression of OcTree: merge children to parent when there are eight children with identical values.
Implements octomap::AbstractOcTree.
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protectedinherited |
recursive call of prune()
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staticinherited |
Read the file header, create the appropriate class and deserialize.
This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:
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staticinherited |
Read the file header, create the appropriate class and deserialize.
This creates a new octree which you need to delete yourself.
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virtualinherited |
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.
Implements octomap::AbstractOcTree.
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Referenced by octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer(), and octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer().
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Search node at specified depth given a 3d point (depth=0: search full tree depth)
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Search node at specified depth given a 3d point (depth=0: search full tree depth)
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Search a node at specified depth given an addressing key (depth=0: search full tree depth)
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virtualinherited |
Change the resolution of the octree, scaling all voxels.
This will not preserve the (metric) scale!
Implements octomap::AbstractOcTree.
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inlinevirtualinherited |
Implements octomap::AbstractOcTree.
Definition at line 176 of file OcTreeBaseImpl.h.
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inherited |
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Write file header and complete tree to file (serialization)
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Write file header and complete tree to stream (serialization)
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virtualinherited |
Write complete state of tree to stream (without file header) unmodified.
Pruning the tree first produces smaller files (lossless compression)
Implements octomap::AbstractOcTree.
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staticprotectedinherited |
Definition at line 169 of file AbstractOcTree.h.
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Definition at line 83 of file OcTreeBaseSE.h.
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Definition at line 547 of file OcTreeBaseImpl.h.
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Definition at line 546 of file OcTreeBaseImpl.h.
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protected |
Definition at line 84 of file OcTreeBaseSE.h.
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max in x, y, z
Definition at line 539 of file OcTreeBaseImpl.h.
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min in x, y, z
Definition at line 540 of file OcTreeBaseImpl.h.
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in meters
Definition at line 530 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBase< CountingOcTreeNode >::create().
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= 1. / resolution
Definition at line 531 of file OcTreeBaseImpl.h.
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Definition at line 525 of file OcTreeBaseImpl.h.
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flag to denote whether the octree extent changed (for lazy min/max eval)
Definition at line 535 of file OcTreeBaseImpl.h.
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contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
Definition at line 542 of file OcTreeBaseImpl.h.
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protectedinherited |
Definition at line 537 of file OcTreeBaseImpl.h.
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Maximum tree depth is fixed to 16 currently.
Definition at line 528 of file OcTreeBaseImpl.h.
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Definition at line 548 of file OcTreeBaseImpl.h.
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Definition at line 529 of file OcTreeBaseImpl.h.
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number of nodes in tree
Definition at line 533 of file OcTreeBaseImpl.h.
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