10#ifndef MRPT_CColouredOctoMap_H
11#define MRPT_CColouredOctoMap_H
14#include <octomap/octomap.h>
15#include <octomap/ColorOcTree.h>
76 bool internal_insertObservation(const
mrpt::obs::CObservation *obs,const
mrpt::poses::CPose3D *robotPose)
MRPT_OVERRIDE;
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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 MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ... MAP_DEFINITION_END() block inside the declaration of each metric map...
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
TColourUpdate getVoxelColourMethod()
Get the method used to update voxels colour.
virtual ~CColouredOctoMap()
Destructor.
void updateVoxelColour(const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b)
Manually update the colour of the voxel at (x,y,z)
virtual void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.
bool getPointColour(const float x, const float y, const float z, uint8_t &r, uint8_t &g, uint8_t &b) const
Get the RGB colour of a point.
CColouredOctoMap(const double resolution=0.10)
Default constructor.
TColourUpdate
This allows the user to select the desired method to update voxels colour.
void setVoxelColourMethod(TColourUpdate new_method)
Set the method used to update voxels colour.
Declares a virtual base class for all metric maps storage classes.
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 MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.