Class: OcTreeBase

OcTreeBase(options)

new OcTreeBase(options)

Represensta a BaseTree that can be build from ros message and create a THREE node from it. Due a tree can be represented different ways in a message, this class is also a base class to represent specialized versions fo the ree.

Parameters:
Name Type Description
options

object with following keys:

  • resolution - the size of leaf nodes in meter
  • color - color of the visualized map (if solid coloring option was set)
  • voxelRenderMode - toggle between rendering modes @see ROS3D.OcTreeVoxelRenderMode
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Members

_FACES

Table which we are building the geometry data from.

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Methods

_computeCoordFromKey()

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_obtainColor()

Abstract function; to implement different coloring schemes

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_readNodeData()

Abstract function; Reads and sets data of a node

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buildGeometry()

Builds up THREE.js geometry from tree data.

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read()

Reads a full tree (with node data) from a message. A pacjet starts with the node data, followed by the allocation map of their children. Each type of tree has different data structure @see ROS3DJS.OcTreeBase._readNodeData

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