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10 #ifndef MRPT_CColouredOctoMap_H
11 #define MRPT_CColouredOctoMap_H
14 #include <octomap/octomap.h>
15 #include <octomap/ColorOcTree.h>
56 bool getPointColour(
const float x,
const float y,
const float z, uint8_t& r, uint8_t& g, uint8_t& b)
const;
59 void updateVoxelColour(
const double x,
const double y,
const double z,
const uint8_t r,
const uint8_t g,
const uint8_t b);
76 bool internal_insertObservation(const
mrpt::obs::CObservation *obs,const
mrpt::poses::CPose3D *robotPose)
MRPT_OVERRIDE;
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Declares a virtual base class for all metric maps storage classes.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
TColourUpdate getVoxelColourMethod()
Get the method used to update voxels colour.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setVoxelColourMethod(TColourUpdate new_method)
Set the method used to update voxels colour.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
TColourUpdate
This allows the user to select the desired method to update voxels colour.
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