Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbourke.net/geometry/polygonise/ Used with permission here under BSD license. More...

Data Structures
class	AbstractOccupancyOcTree
	Interface class for all octree types that store occupancy. More...

class	AbstractOcTree
	This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()). More...

class	AbstractOcTreeNode

class	ColorOcTree

class	ColorOcTreeNode

class	CountingOcTree
	An AbstractOcTree which stores an internal counter per node / volume. More...

class	CountingOcTreeNode
	An Octree-node which stores an internal counter per node / volume. More...

class	KeyRay

class	MapCollection

class	MapNode

class	OccupancyOcTreeBase
	Base implementation for Occupancy Octrees (e.g. More...

class	OcTree
	octomap main map data structure, stores 3D occupancy grid map in an OcTree. More...

class	OcTreeBase

class	OcTreeBaseImpl
	OcTree base class, to be used with with any kind of OcTreeDataNode. More...

class	OcTreeDataNode
	Basic node in the OcTree that can hold arbitrary data of type T in value. More...

class	OcTreeKey
	OcTreeKey is a container class for internal key addressing. More...

class	OcTreeNode
	Nodes to be used in OcTree. More...

class	OcTreeNodeStamped

class	OcTreeStamped

class	Pointcloud
	A collection of 3D coordinates (point3d), which are regarded as endpoints of a 3D laser scan. More...

class	ScanEdge
	A connection between two ScanNodes. More...

class	ScanGraph
	A ScanGraph is a collection of ScanNodes, connected by ScanEdges. More...

class	ScanNode
	A 3D scan as Pointcloud, performed from a Pose6D. More...

Typedefs
typedef unsigned char	byte

typedef uint16_t	key_type

typedef unordered_ns::unordered_map< OcTreeKey, bool, OcTreeKey::KeyHash >	KeyBoolMap
	Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes) More...

typedef unordered_ns::unordered_set< OcTreeKey, OcTreeKey::KeyHash >	KeySet
	Data structure to efficiently compute the nodes to update from a scan insertion using a hash set. More...

typedef std::pair< point3d, double >	OcTreeVolume
	A voxel defined by its center point3d and its side length. More...

typedef octomath::Vector3	point3d
	Use Vector3 (float precision) as a point3d in octomap. More...

typedef std::vector< octomath::Vector3 >	point3d_collection

typedef std::list< octomath::Vector3 >	point3d_list

typedef octomath::Pose6D	pose6d
	Use our Pose6D (float precision) as pose6d in octomap. More...

Functions
uint8_t	computeChildIdx (const OcTreeKey &key, int depth)
	generate child index (between 0 and 7) from key at given tree depth More...

void	computeChildKey (unsigned int pos, key_type center_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key)
	Computes the key of a child node while traversing the octree, given child index and current key. More...

OcTreeKey	computeIndexKey (key_type level, const OcTreeKey &key)
	Generates a unique key for all keys on a certain level of the tree. More...

float	logodds (double probability)
	compute log-odds from probability: More...

std::ostream &	operator<< (std::ostream &out, ColorOcTreeNode::Color const &c)
	user friendly output in format (r g b) More...

double	probability (double logodds)
	compute probability from logodds: More...

Variables
static const int	edgeTable [256]

static const int	triTable [256][16]

static const point3d	vertexList [12]

Detailed Description

Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbourke.net/geometry/polygonise/ Used with permission here under BSD license.

Namespace the OctoMap library and visualization tools

Typedef Documentation

◆ byte

typedef unsigned char octomap::byte

◆ key_type

typedef uint16_t octomap::key_type

◆ KeyBoolMap

typedef unordered_ns::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap

Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)

◆ KeySet

typedef unordered_ns::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet

Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.

Note: you need to use boost::unordered_set instead if your compiler does not yet support tr1!

◆ OcTreeVolume

typedef std::pair<point3d, double> octomap::OcTreeVolume

A voxel defined by its center point3d and its side length.

◆ point3d

typedef octomath::Vector3 octomap::point3d

Use Vector3 (float precision) as a point3d in octomap.

◆ point3d_collection

typedef std::vector<octomath::Vector3> octomap::point3d_collection

◆ point3d_list

typedef std::list<octomath::Vector3> octomap::point3d_list

◆ pose6d

typedef octomath::Pose6D octomap::pose6d

Use our Pose6D (float precision) as pose6d in octomap.

Function Documentation

◆ computeChildIdx()

uint8_t octomap::computeChildIdx	(	const OcTreeKey &	key,
		int	depth
	)

inline

generate child index (between 0 and 7) from key at given tree depth

References octomap::OcTreeKey::k.

Referenced by octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::deleteNodeRecurs(), octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >::search(), octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::setNodeValueRecurs(), octomap::CountingOcTree::updateNode(), and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::updateNodeRecurs().

◆ computeChildKey()

void octomap::computeChildKey	(	unsigned int	pos,
		key_type	center_offset_key,
		const OcTreeKey &	parent_key,
		OcTreeKey &	child_key
	)

inline

Computes the key of a child node while traversing the octree, given child index and current key.

Parameters

[in]	pos	index of child node (0..7)
[in]	center_offset_key	constant offset of octree keys
[in]	parent_key	current (parent) key
[out]	child_key	computed child key

Referenced by octomap::CountingOcTree::getCentersMinHitsRecurs(), iterator_base::singleIncrement(), and leaf_bbx_iterator::singleIncrement().

◆ computeIndexKey()

OcTreeKey octomap::computeIndexKey	(	key_type	level,
		const OcTreeKey &	key
	)

inline

Generates a unique key for all keys on a certain level of the tree.

Parameters

level	from the bottom (= tree_depth - depth of key)
key	input indexing key (at lowest resolution / level)

Returns: key corresponding to the input key at the given level

Referenced by iterator_base::getIndexKey().

◆ logodds()

float octomap::logodds ( double probability )

inline

compute log-odds from probability:

References probability().

Referenced by main(), probability(), octomap::AbstractOccupancyOcTree::setClampingThresMax(), octomap::AbstractOccupancyOcTree::setClampingThresMin(), octomap::AbstractOccupancyOcTree::setOccupancyThres(), octomap::AbstractOccupancyOcTree::setProbHit(), and octomap::AbstractOccupancyOcTree::setProbMiss().

◆ operator<<()

std::ostream & octomap::operator<<	(	std::ostream &	out,
		ColorOcTreeNode::Color const &	c
	)

user friendly output in format (r g b)

References octomap::ColorOcTreeNode::Color::b, octomap::ColorOcTreeNode::Color::g, and octomap::ColorOcTreeNode::Color::r.

◆ probability()

double octomap::probability ( double logodds )

inline

compute probability from logodds:

References logodds().

Referenced by octomap::AbstractOccupancyOcTree::getClampingThresMax(), octomap::AbstractOccupancyOcTree::getClampingThresMin(), octomap::OcTreeNode::getOccupancy(), octomap::AbstractOccupancyOcTree::getOccupancyThres(), octomap::AbstractOccupancyOcTree::getProbHit(), octomap::AbstractOccupancyOcTree::getProbMiss(), logodds(), and main().

Variable Documentation

◆ edgeTable

const int octomap::edgeTable[256]

static

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getNormals().

◆ triTable

const int octomap::triTable[256][16]

static

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getNormals().

◆ vertexList

const point3d octomap::vertexList[12]

static

Initial value:

= 
  {
    point3d(1, 0, -1),
    point3d(0, -1, -1),
    point3d(-1, 0, -1),
    point3d(0, 1, -1),
    
    point3d(1, 0, 1),
    point3d(0, -1, 1),
    point3d(-1, 0, 1),
    point3d(0, 1, 1),
    
    point3d(1, 1, 0),
    point3d(1, -1, 0),
    point3d(-1, -1, 0),
    point3d(-1, 1, 0),
  }

Referenced by octomap::OccupancyOcTreeBase< OcTreeNodeStamped >::getNormals().

Data Structures

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ byte

◆ key_type

◆ KeyBoolMap

◆ KeySet

◆ OcTreeVolume

◆ point3d

◆ point3d_collection

◆ point3d_list

◆ pose6d

Function Documentation

◆ computeChildIdx()

◆ computeChildKey()

◆ computeIndexKey()

◆ logodds()

◆ operator<<()

◆ probability()

Variable Documentation

◆ edgeTable

◆ triTable

◆ vertexList