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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef SRC_OCTOMAP_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define SRC_OCTOMAP_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < octomap/ColorOcTree.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < octomap/OcTreeKey.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > </ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < pcl/pcl_base.h> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < pcl/point_types.h> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include < rtabmap/core/Parameters.h> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < rtabmap/core/GlobalMap.h> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > </ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < map> </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "preprocessor" > #include < unordered_set> </ span ></ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "preprocessor" > #include < string> </ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "preprocessor" > #include < queue> </ span ></ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > </ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > </ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span >< span class = "comment" > // forward declaraton for " friend" </ span ></ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span >< span class = "keyword" > class </ span > RtabmapColorOcTree;</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > </ div >
< div class = "foldopen" id = "foldopen00053" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > 53</ a ></ span >< span class = "keyword" > class </ span >< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > : < span class = "keyword" > public</ span > octomap::ColorOcTreeNode</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > {</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < span class = "keyword" > enum</ span > OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > </ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > < span class = "keyword" > friend</ span > < span class = "keyword" > class </ span >< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > ; < span class = "comment" > // needs access to node children (inherited)</ span ></ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > </ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > () : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > & rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > </ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keywordtype" > void</ span > setNodeRefId(< span class = "keywordtype" > int</ span > nodeRefId) {nodeRefId_ = nodeRefId;}</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keywordtype" > void</ span > setOccupancyType(< span class = "keywordtype" > char</ span > type) {type_=type;}</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > < span class = "keywordtype" > void</ span > setPointRef(< span class = "keyword" > const</ span > octomap::point3d & point) {pointRef_ = point;}</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > < span class = "keywordtype" > int</ span > getNodeRefId()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > nodeRefId_;}</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > < span class = "keywordtype" > int</ span > getOccupancyType()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > type_;}</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > < span class = "keyword" > const</ span > octomap::point3d & getPointRef()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > pointRef_;}</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > </ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > < span class = "comment" > // following methods defined for octomap < 1.8 compatibility</ span ></ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * getChild(< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i);</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * getChild(< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > < span class = "keywordtype" > bool</ span > pruneNode();</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keywordtype" > void</ span > expandNode();</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keywordtype" > bool</ span > createChild(< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i);</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > </ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keywordtype" > void</ span > updateOccupancyTypeChildren();</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > </ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keywordtype" > int</ span > nodeRefId_;</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keywordtype" > int</ span > type_; < span class = "comment" > // -1=undefined, 0=empty, 100=obstacle, 1=ground</ span ></ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > octomap::point3d pointRef_;</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > </ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span >< span class = "comment" > // Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode</ span ></ div >
< div class = "foldopen" id = "foldopen00087" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree.html" > 87</ a ></ span >< span class = "keyword" > class </ span >< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > : < span class = "keyword" > public</ span > octomap::OccupancyOcTreeBase < RtabmapColorOcTreeNode> {</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > </ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > < span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree.html#a357d9dd5513df9a4185d84f97c1d5a3f" > 91</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1RtabmapColorOcTree.html#a357d9dd5513df9a4185d84f97c1d5a3f" > RtabmapColorOcTree</ a > (< span class = "keywordtype" > double</ span > resolution);</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > ~RtabmapColorOcTree</ a > () {}</ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > </ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree.html#ac109340a5367e1b818febb00ae06f18e" > 96</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * < a class = "code hl_function" href = "classrtabmap_1_1RtabmapColorOcTree.html#ac109340a5367e1b818febb00ae06f18e" > create</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "keyword" > new</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > (resolution); }</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > </ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > std::string getTreeType()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "stringliteral" > " ColorOcTree" </ span > ;} < span class = "comment" > // same type as ColorOcTree to be compatible with ROS OctoMap msg</ span ></ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > </ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree.html#aea61a0ef99b3c56ecf5178c6d6eeb847" > 106</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1RtabmapColorOcTree.html#aea61a0ef99b3c56ecf5178c6d6eeb847" > pruneNode</ a > (< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * node);</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > </ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isNodeCollapsible(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * node) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > </ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > < span class = "comment" > // set node color at given key or coordinate. Replaces previous color.</ span ></ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * setNodeColor(< span class = "keyword" > const</ span > octomap::OcTreeKey& key, uint8_t r,</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > uint8_t g, uint8_t b);</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > </ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * setNodeColor(< span class = "keywordtype" > float</ span > x, < span class = "keywordtype" > float</ span > y,</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > < span class = "keywordtype" > float</ span > z, uint8_t r,</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > uint8_t g, uint8_t b) {</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > octomap::OcTreeKey key;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > < span class = "keywordflow" > if</ span > (!this-> coordToKeyChecked(octomap::point3d(x,y,z), key)) < span class = "keywordflow" > return</ span > NULL;</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > < span class = "keywordflow" > return</ span > setNodeColor(key,r,g,b);</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > }</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > </ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < span class = "comment" > // integrate color measurement at given key or coordinate. Average with previous color</ span ></ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * averageNodeColor(< span class = "keyword" > const</ span > octomap::OcTreeKey& key, uint8_t r,</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > uint8_t g, uint8_t b);</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > </ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > RtabmapColorOcTreeNode</ a > * averageNodeColor(< span class = "keywordtype" > float</ span > x, < span class = "keywordtype" > float</ span > y,</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keywordtype" > float</ span > z, uint8_t r,</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > uint8_t g, uint8_t b) {</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > octomap:: OcTreeKey key;</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > < span class = "keywordflow" > if</ span > (!this-> coordToKeyChecked(octomap::point3d(x,y,z), key)) < span class = "keywordflow" > return</ span > NULL;</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordflow" > return</ span > averageNodeColor(key,r,g,b);</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > }</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > </ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "comment" > // integrate color measurement at given key or coordinate. Average with previous color</ span ></ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > RtabmapColorOcTreeNode* integrateNodeColor(< span class = "keyword" > const</ span > octomap::OcTreeKey& key, uint8_t r,</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > uint8_t g, uint8_t b);</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > </ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > RtabmapColorOcTreeNode* integrateNodeColor(< span class = "keywordtype" > float</ span > x, < span class = "keywordtype" > float</ span > y,</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordtype" > float</ span > z, uint8_t r,</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > uint8_t g, uint8_t b) {</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > octomap::OcTreeKey key;</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keywordflow" > if</ span > (!this-> coordToKeyChecked(octomap::point3d(x,y,z), key)) < span class = "keywordflow" > return</ span > NULL;</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keywordflow" > return</ span > integrateNodeColor(key,r,g,b);</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > }</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > </ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < span class = "comment" > // update inner nodes, sets color to average child color</ span ></ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > < span class = "keywordtype" > void</ span > updateInnerOccupancy();</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > </ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > < span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > < span class = "keywordtype" > void</ span > updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > depth);</ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > </ div >
< div class = "foldopen" id = "foldopen00159" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html" > 159</ a ></ span > < span class = "keyword" > class </ span >< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html" > StaticMemberInitializer</ a > {</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html" > StaticMemberInitializer</ a > ();</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > </ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html#aff6bc204ec1c5dfaa423d8ec3e448f0f" > 168</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html#aff6bc204ec1c5dfaa423d8ec3e448f0f" > ensureLinking</ a > () {};</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1RtabmapColorOcTree.html#aa365df57ec5726f1d9ccff0c50a1cfbd" > 171</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html" > StaticMemberInitializer</ a > < a class = "code hl_variable" href = "classrtabmap_1_1RtabmapColorOcTree.html#aa365df57ec5726f1d9ccff0c50a1cfbd" > RtabmapColorOcTreeMemberInit</ a > ;</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > </ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > </ div >
< div class = "foldopen" id = "foldopen00175" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OctoMap.html" > 175</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalMap.html" > GlobalMap</ a > {</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > < a class = "code hl_class" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > * cache, < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > </ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > octree_;}</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > </ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr createCloud(</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth = 0,</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > std::vector< int> * obstacleIndices = 0,</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > std::vector< int> * emptyIndices = 0,</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > std::vector< int> * groundIndices = 0,</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > < span class = "keywordtype" > bool</ span > originalRefPoints = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > std::vector< int> * frontierIndices = 0,</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > std::vector< double> * cloudProb = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > </ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > cv::Mat createProjectionMap(</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > < span class = "keywordtype" > float</ span > & xMin,</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > < span class = "keywordtype" > float</ span > & yMin,</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keywordtype" > float</ span > & gridCellSize,</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keywordtype" > float</ span > minGridSize = 0.0f,</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth = 0);</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > </ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > < span class = "keywordtype" > bool</ span > writeBinary(< span class = "keyword" > const</ span > std::string & path);</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > </ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1OctoMap.html" > ~OctoMap</ a > ();</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OctoMap.html#a6f9f296f3d5852f749c88291fa11d70f" > 200</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1OctoMap.html#a6f9f296f3d5852f749c88291fa11d70f" > clear</ a > ();</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OctoMap.html#ab4706881eee755cf58312859e6a3af89" > 201</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > < a class = "code hl_function" href = "classrtabmap_1_1OctoMap.html#ab4706881eee755cf58312859e6a3af89" > getMemoryUsed</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > </ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > < span class = "keywordtype" > bool</ span > hasColor()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > hasColor_;}</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > </ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keyword" > static</ span > std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> findEmptyNode(< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree_, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth, octomap::point3d startPosition);</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > floodFill(< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree_, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth,octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> & EmptyNodes,std::queue< octomap::point3d>& positionToExplore);</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isNodeVisited(std::unordered_set< octomap::OcTreeKey,octomap::OcTreeKey::KeyHash> < span class = "keyword" > const</ span > & EmptyNodes,octomap::OcTreeKey < span class = "keyword" > const</ span > key);</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > < span class = "keyword" > static</ span > octomap::point3d findCloseEmpty(< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree_, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth,octomap::point3d startPosition);</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > isValidEmpty(< a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree_, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > treeDepth,octomap::point3d startPosition);</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > </ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OctoMap.html#ac74a308322f3162307bfe73bfd60c2dd" > 212</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1OctoMap.html#ac74a308322f3162307bfe73bfd60c2dd" > assemble</ a > (< span class = "keyword" > const</ span > std::list< std::pair< int, Transform> > & newPoses);</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > </ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "keywordtype" > void</ span > updateMinMax(< span class = "keyword" > const</ span > octomap::point3d & point);</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > </ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > < a class = "code hl_class" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * octree_;</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > < span class = "keywordtype" > bool</ span > hasColor_;</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > < span class = "keywordtype" > float</ span > rangeMax_;</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > < span class = "keywordtype" > bool</ span > rayTracing_;</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > emptyFloodFillDepth_;</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > </ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > } < span class = "comment" > /* namespace rtabmap */</ span ></ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > </ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* SRC_OCTOMAP_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GlobalMap_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GlobalMap.html" > rtabmap::GlobalMap</ a ></ div >< div class = "ttdoc" > Abstract base for assembling per-node LocalGrid data into a global map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GlobalMap_8h_source.html#l00055" > GlobalMap.h:56</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LocalGridCache_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LocalGridCache.html" > rtabmap::LocalGridCache</ a ></ div >< div class = "ttdoc" > Cache of LocalGrid entries keyed by map node id.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LocalGrid_8h_source.html#l00097" > LocalGrid.h:98</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OctoMap_html" >< div class = "ttname" >< a href = "classrtabmap_1_1OctoMap.html" > rtabmap::OctoMap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00175" > OctoMap.h:175</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OctoMap_html_a6f9f296f3d5852f749c88291fa11d70f" >< div class = "ttname" >< a href = "classrtabmap_1_1OctoMap.html#a6f9f296f3d5852f749c88291fa11d70f" > rtabmap::OctoMap::clear</ a ></ div >< div class = "ttdeci" > virtual void clear()</ div >< div class = "ttdoc" > Clears assembled nodes and grid bounds; does not clear LocalGridCache.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OctoMap_html_ab4706881eee755cf58312859e6a3af89" >< div class = "ttname" >< a href = "classrtabmap_1_1OctoMap.html#ab4706881eee755cf58312859e6a3af89" > rtabmap::OctoMap::getMemoryUsed</ a ></ div >< div class = "ttdeci" > virtual unsigned long getMemoryUsed() const</ div >< div class = "ttdoc" > Approximate memory used by assembled-node bookkeeping (bytes).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OctoMap_html_ac74a308322f3162307bfe73bfd60c2dd" >< div class = "ttname" >< a href = "classrtabmap_1_1OctoMap.html#ac74a308322f3162307bfe73bfd60c2dd" > rtabmap::OctoMap::assemble</ a ></ div >< div class = "ttdeci" > virtual void assemble(const std::list< std::pair< int, Transform > > & newPoses)</ div >< div class = "ttdoc" > Subclass hook: merge newPoses into the global map; call addAssembledNode().</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTreeNode_html" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTreeNode.html" > rtabmap::RtabmapColorOcTreeNode</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00053" > OctoMap.h:54</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer_html" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html" > rtabmap::RtabmapColorOcTree::StaticMemberInitializer</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00159" > OctoMap.h:159</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer_html_aff6bc204ec1c5dfaa423d8ec3e448f0f" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html#aff6bc204ec1c5dfaa423d8ec3e448f0f" > rtabmap::RtabmapColorOcTree::StaticMemberInitializer::ensureLinking</ a ></ div >< div class = "ttdeci" > void ensureLinking()</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00168" > OctoMap.h:168</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_html" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree.html" > rtabmap::RtabmapColorOcTree</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00087" > OctoMap.h:87</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_html_a357d9dd5513df9a4185d84f97c1d5a3f" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree.html#a357d9dd5513df9a4185d84f97c1d5a3f" > rtabmap::RtabmapColorOcTree::RtabmapColorOcTree</ a ></ div >< div class = "ttdeci" > RtabmapColorOcTree(double resolution)</ div >< div class = "ttdoc" > Default constructor, sets resolution of leafs.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_html_aa365df57ec5726f1d9ccff0c50a1cfbd" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree.html#aa365df57ec5726f1d9ccff0c50a1cfbd" > rtabmap::RtabmapColorOcTree::RtabmapColorOcTreeMemberInit</ a ></ div >< div class = "ttdeci" > static StaticMemberInitializer RtabmapColorOcTreeMemberInit</ div >< div class = "ttdoc" > static member to ensure static initialization (only once)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00171" > OctoMap.h:171</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_html_ac109340a5367e1b818febb00ae06f18e" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree.html#ac109340a5367e1b818febb00ae06f18e" > rtabmap::RtabmapColorOcTree::create</ a ></ div >< div class = "ttdeci" > RtabmapColorOcTree * create() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "global__map_2OctoMap_8h_source.html#l00096" > OctoMap.h:96</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1RtabmapColorOcTree_html_aea61a0ef99b3c56ecf5178c6d6eeb847" >< div class = "ttname" >< a href = "classrtabmap_1_1RtabmapColorOcTree.html#aea61a0ef99b3c56ecf5178c6d6eeb847" > rtabmap::RtabmapColorOcTree::pruneNode</ a ></ div >< div class = "ttdeci" > virtual bool pruneNode(RtabmapColorOcTreeNode *node)</ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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< li class = "navelem" >< a class = "el" href = "dir_04d49acea3c42cab2afcd35cb2f2a48f.html" > corelib</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_e996b11fd4b3a747423759b16a8ba4a6.html" > include</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_884419f21456e80aa47bc1d0c2ab0140.html" > core</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_ee30f6c257683889c7b4a28a79d90ef3.html" > global_map</ a ></ li >< li class = "navelem" >< b > OctoMap.h</ b ></ li >
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