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<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><divclass="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html_a2e83e9c0c11051b5da84bf04b603a99b"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b">rtabmap::LocalGridCache::add</a></div><divclass="ttdeci">void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))</div><divclass="ttdoc">Inserts or replaces the grid for nodeId (from separate cell mats).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html_a6350523acd5ce71be45cd653071837fc"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc">rtabmap::LocalGridCache::shareTo</a></div><divclass="ttdeci">bool shareTo(int nodeId, LocalGridCache &anotherCache) const</div><divclass="ttdoc">Copies a grid to anotherCache if present here and absent there.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html_a765142f021aa580bcfdd84545ebc044f"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html#a765142f021aa580bcfdd84545ebc044f">rtabmap::LocalGridCache::add</a></div><divclass="ttdeci">void add(int nodeId, const LocalGrid &localGrid)</div><divclass="ttdoc">Inserts or replaces the grid for nodeId.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html_ab72a88b5c00d2a104ac1055538960acb"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html#ab72a88b5c00d2a104ac1055538960acb">rtabmap::LocalGridCache::getMemoryUsed</a></div><divclass="ttdeci">unsigned long getMemoryUsed() const</div><divclass="ttdoc">Approximate memory used by cached grids (bytes).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html">rtabmap::LocalGrid</a></div><divclass="ttdoc">Local occupancy grid cells for one map node (ground, obstacles, empty).</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00061">LocalGrid.h:62</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_a13abf7a3ed9d8680ea339551401b62f5"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">rtabmap::LocalGrid::cellSize</a></div><divclass="ttdeci">float cellSize</div><divclass="ttdoc">Cell size in meters.</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00085">LocalGrid.h:85</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_a1d828782755374c7601810b35f99a9e5"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">rtabmap::LocalGrid::groundCells</a></div><divclass="ttdeci">cv::Mat groundCells</div><divclass="ttdoc">Ground cells (1×N, CV_32FC2–CV_32FC7, see class doc).</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00082">LocalGrid.h:82</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_a42d930cf05d39ecbbd2e3678f8d0b47a"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a">rtabmap::LocalGrid::LocalGrid</a></div><divclass="ttdeci">LocalGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))</div><divclass="ttdoc">Builds a local grid from cell matrices.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_a7d0a732be74bd5c46e9029982bf4972b"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b">rtabmap::LocalGrid::emptyCells</a></div><divclass="ttdeci">cv::Mat emptyCells</div><divclass="ttdoc">Empty/free cells (same layout as groundCells).</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00084">LocalGrid.h:84</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_aa8f5a6219144d584cde0fe6b565ac0bb"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">rtabmap::LocalGrid::viewPoint</a></div><divclass="ttdeci">cv::Point3f viewPoint</div><divclass="ttdoc">View point used to build the grid.</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00086">LocalGrid.h:86</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGrid_html_abe290c60168557fb899914f53e4ad1a1"><divclass="ttname"><ahref="classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1">rtabmap::LocalGrid::obstacleCells</a></div><divclass="ttdeci">cv::Mat obstacleCells</div><divclass="ttdoc">Obstacle cells (same layout as groundCells).</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00083">LocalGrid.h:83</a></div></div>
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