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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan Willow Garage Inc *C University of Freiburg *F M de Universite Laval Quebec *B TU Munich *A University of Maryland *C Brew *F | Boniardi |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further | contributors |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan Willow Garage Inc *C | Dornhege |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan Willow Garage Inc *C University of Freiburg *F M de Universite Laval Quebec *B TU Munich *A | Ecins |
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OctoMap was originally developed by Kai M Wurm and Armin | Hornung |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan Willow Garage Inc *C University of Freiburg *F M de Universite Laval Quebec *B | Jensen |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J | Mueller |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S | Osswald |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan Willow Garage Inc *C University of Freiburg *F M de | Rainville |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R University of Freiburg *R Bogdan | Rusu |
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OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg *J University of Freiburg *S University of Freiburg *R | Schmitt |
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◆ Boniardi
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Willow Garage Inc* C University of Freiburg* F M de Universite Laval Quebec* B TU Munich* A University of Maryland* C Brew* F Boniardi |
◆ contributors
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further contributors |
◆ Dornhege
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Willow Garage Inc* C Dornhege |
◆ Ecins
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Willow Garage Inc* C University of Freiburg* F M de Universite Laval Quebec* B TU Munich* A Ecins |
◆ Hornung
OctoMap was originally developed by Kai M Wurm and Armin Hornung |
◆ Jensen
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Willow Garage Inc* C University of Freiburg* F M de Universite Laval Quebec* B Jensen |
◆ Mueller
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J Mueller |
◆ Osswald
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S Osswald |
◆ Rainville
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Willow Garage Inc* C University of Freiburg* F M de Rainville |
◆ Rusu
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R University of Freiburg* R Bogdan Rusu |
◆ Schmitt
OctoMap was originally developed by Kai M Wurm and Armin University of Freiburg Further University of Freiburg* J University of Freiburg* S University of Freiburg* R Schmitt |
void setProbMiss(double prob)
sets the probability for a "miss" (will be converted to logodds) - sensor model
Definition: AbstractOccupancyOcTree.h:192
double yaw() const
Definition: Pose6D.h:111
NODE * search(double x, double y, double z, unsigned int depth=0) const
Search node at specified depth given a 3d point (depth=0: search full tree depth).
Definition: OcTreeBaseImpl.hxx:421
virtual size_t size() const
Definition: OcTreeBaseImpl.h:241
A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan.
Definition: Pointcloud.h:47
void push_back(float x, float y, float z)
Definition: Pointcloud.h:61
double keyToCoord(key_type key, unsigned depth) const
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
Definition: OcTreeBaseImpl.hxx:394
unsigned int getLastUpdateTime()
Definition: OcTreeStamped.cpp:43
Vector3 & rotate_IP(double roll, double pitch, double yaw)
Definition: Vector3.cpp:41
double probability(double logodds)
compute probability from logodds:
Definition: octomap_utils.h:47
virtual bool insertRay(const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)
Insert one ray between origin and end into the tree.
Definition: OccupancyOcTreeBase.hxx:865
int main(int argc, char **argv)
Definition: unit_tests.cpp:19
virtual void insertPointCloud(const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)
Integrate a Pointcloud (in global reference frame), parallelized with OpenMP.
Definition: OccupancyOcTreeBase.hxx:86
#define EXPECT_TRUE(args)
Definition: testing.h:6
This class represents a three-dimensional vector.
Definition: Vector3.h:50
virtual NODE * updateNode(const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)
Manipulate log_odds value of a voxel by changing it by log_odds_update (relative).
Definition: OccupancyOcTreeBase.hxx:301
#define DEG2RAD(x)
Definition: Utils.h:47
octomap main map data structure, stores 3D occupancy grid map in an OcTree.
Definition: OcTree.h:49
A ScanGraph is a collection of ScanNodes, connected by ScanEdges.
Definition: ScanGraph.h:114
Definition: OcTreeStamped.h:45
#define EXPECT_FLOAT_EQ(a, b)
Definition: testing.h:22
Vector3 transform(const Vector3 &v) const
Transformation of a vector.
Definition: Pose6D.cpp:85
OcTreeKey is a container class for internal key addressing.
Definition: OcTreeKey.h:70
void setProbHit(double prob)
sets the probability for a "hit" (will be converted to logodds) - sensor model
Definition: AbstractOccupancyOcTree.h:190
float logodds(double probability)
compute log-odds from probability:
Definition: octomap_utils.h:42
float & y()
Definition: Vector3.h:136
ScanNode * addNode(Pointcloud *scan, pose6d pose)
Creates a new ScanNode in the graph from a Pointcloud.
Definition: ScanGraph.cpp:179
#define M_PI
Definition: Utils.h:38
std::ostream & writeBinary(std::ostream &s) const
Definition: ScanGraph.cpp:328
unsigned int getTimestamp() const
Definition: OcTreeStamped.h:62
Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbou...
This class represents a tree-dimensional pose of an object.
Definition: Pose6D.h:49
bool coordToKeyChecked(const point3d &coord, OcTreeKey &key) const
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
Definition: OcTreeBaseImpl.hxx:340
void integrateMissNoTime(OcTreeNodeStamped *node) const
Definition: OcTreeStamped.cpp:66
float & z()
Definition: Vector3.h:141
octomath::Vector3 point3d
Use Vector3 (float precision) as a point3d in octomap.
Definition: octomap_types.h:49
float & x()
Definition: Vector3.h:131
This class represents a Quaternion.
Definition: Quaternion.h:56
#define EXPECT_EQ(a, b)
Definition: testing.h:16
Pose6D inv() const
Inversion.
Definition: Pose6D.cpp:70
bool writeBinary(const std::string &filename)
Writes OcTree to a binary file using writeBinary().
Definition: AbstractOccupancyOcTree.cpp:50
Definition: OcTreeStamped.h:78
std::istream & readBinary(std::ifstream &s)
Definition: ScanGraph.cpp:369