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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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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 &quot;AS IS&quot; 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 &quot;rtabmap/core/rtabmap_core_export.h&quot;</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 &lt;octomap/ColorOcTree.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;octomap/OcTreeKey.h&gt;</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 &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</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 &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &lt;rtabmap/core/GlobalMap.h&gt;</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 &lt;map&gt;</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include &lt;unordered_set&gt;</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include &lt;queue&gt;</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 &quot;friend&quot;</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>&amp; 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 &amp; 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 &amp; 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 &lt; 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 &lt;RtabmapColorOcTreeNode&gt; {</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">&quot;ColorOcTree&quot;</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&amp; 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-&gt;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&amp; 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-&gt;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&amp; 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-&gt;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> &amp; 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&lt;pcl::PointXYZRGB&gt;::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&lt;int&gt; * obstacleIndices = 0,</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> std::vector&lt;int&gt; * emptyIndices = 0,</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> std::vector&lt;int&gt; * 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&lt;int&gt; * frontierIndices = 0,</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> std::vector&lt;double&gt; * 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> &amp; xMin,</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">float</span> &amp; yMin,</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">float</span> &amp; 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 &amp; 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&lt;octomap::OcTreeKey, octomap::OcTreeKey::KeyHash&gt; 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&lt;octomap::OcTreeKey, octomap::OcTreeKey::KeyHash&gt; &amp; EmptyNodes,std::queue&lt;octomap::point3d&gt;&amp; 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&lt;octomap::OcTreeKey,octomap::OcTreeKey::KeyHash&gt; <span class="keyword">const</span> &amp; 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&lt;std::pair&lt;int, Transform&gt; &gt; &amp; 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 &amp; 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&lt; std::pair&lt; int, Transform &gt; &gt; &amp;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>
<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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; 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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