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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-attribs" > Public Attributes</ a > |
< a href = "classrtabmap_1_1LocalGrid-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::LocalGrid Class Reference</ div ></ div >
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< p > Local occupancy grid cells for one map node (ground, obstacles, empty).
< a href = "classrtabmap_1_1LocalGrid.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > > </ code ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a42d930cf05d39ecbbd2e3678f8d0b47a" id = "r_a42d930cf05d39ecbbd2e3678f8d0b47a" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a" > LocalGrid</ a > (const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5" > cellSize</ a > , const cv::Point3f & < a class = "el" href = "classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb" > viewPoint</ a > =cv::Point3f(0, 0, 0))</ td ></ tr >
< tr class = "memdesc:a42d930cf05d39ecbbd2e3678f8d0b47a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Builds a local grid from cell matrices. < br /></ td ></ tr >
< tr class = "separator:a42d930cf05d39ecbbd2e3678f8d0b47a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af4bac3ac9ffd57653dee619b5be2b4f7" id = "r_af4bac3ac9ffd57653dee619b5be2b4f7" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7" > is3D</ a > () const</ td ></ tr >
< tr class = "separator:af4bac3ac9ffd57653dee619b5be2b4f7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-attribs" name = "pub-attribs" ></ a >
Public Attributes</ h2 ></ td ></ tr >
< tr class = "memitem:a1d828782755374c7601810b35f99a9e5" id = "r_a1d828782755374c7601810b35f99a9e5" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5" > groundCells</ a ></ td ></ tr >
< tr class = "memdesc:a1d828782755374c7601810b35f99a9e5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Ground cells (1× < code > CV_32FC2</ code > – < code > CV_32FC7</ code > , see class doc). < br /></ td ></ tr >
< tr class = "separator:a1d828782755374c7601810b35f99a9e5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abe290c60168557fb899914f53e4ad1a1" id = "r_abe290c60168557fb899914f53e4ad1a1" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1" > obstacleCells</ a ></ td ></ tr >
< tr class = "memdesc:abe290c60168557fb899914f53e4ad1a1" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Obstacle cells (same layout as < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5" > groundCells</ a > ). < br /></ td ></ tr >
< tr class = "separator:abe290c60168557fb899914f53e4ad1a1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7d0a732be74bd5c46e9029982bf4972b" id = "r_a7d0a732be74bd5c46e9029982bf4972b" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b" > emptyCells</ a ></ td ></ tr >
< tr class = "memdesc:a7d0a732be74bd5c46e9029982bf4972b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Empty/free cells (same layout as < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5" > groundCells</ a > ). < br /></ td ></ tr >
< tr class = "separator:a7d0a732be74bd5c46e9029982bf4972b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a13abf7a3ed9d8680ea339551401b62f5" id = "r_a13abf7a3ed9d8680ea339551401b62f5" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5" > cellSize</ a ></ td ></ tr >
< tr class = "memdesc:a13abf7a3ed9d8680ea339551401b62f5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Cell size in meters. < br /></ td ></ tr >
< tr class = "separator:a13abf7a3ed9d8680ea339551401b62f5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa8f5a6219144d584cde0fe6b565ac0bb" id = "r_aa8f5a6219144d584cde0fe6b565ac0bb" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Point3f  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb" > viewPoint</ a ></ td ></ tr >
< tr class = "memdesc:aa8f5a6219144d584cde0fe6b565ac0bb" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > View point used to build the grid. < br /></ td ></ tr >
< tr class = "separator:aa8f5a6219144d584cde0fe6b565ac0bb" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Local occupancy grid cells for one map node (ground, obstacles, empty). </ p >
< p > Each layer is stored as a 1× < code > cv::Mat</ code > of cell coordinates in the robot/base frame. Layouts match < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > grid storage (< a class = "el" href = "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007" > LaserScan::Format</ a > ):</ p >< ul >
< li >< code > CV_32FC2</ code > (2 ch): < code > kXY</ code > — (x, y)</ li >
< li >< code > CV_32FC3</ code > (3 ch): < code > kXYZ</ code > or < code > kXYI</ code > — (x, y, z) or (x, y, intensity)</ li >
< li >< code > CV_32FC4</ code > (4 ch): < code > kXYZI</ code > or < code > kXYZRGB</ code > — (x, y, z, intensity) or (x, y, z, RGB)</ li >
< li >< code > CV_32FC5</ code > (5 ch): < code > kXYNormal</ code > or < code > kXYZIT</ code > — 2D (x, y, nx, ny, nz) or 3D (x, y, z, intensity, time)</ li >
< li >< code > CV_32FC6</ code > (6 ch): < code > kXYINormal</ code > , < code > kXYZNormal</ code > or < code > kXYZIRT</ code ></ li >
< li >< code > CV_32FC7</ code > (7 ch): < code > kXYZINormal</ code > or < code > kXYZRGBNormal</ code ></ li >
</ ul >
< p >< a class = "el" href = "classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7" > is3D()</ a > is true when every non-empty layer is < code > CV_32FC3</ code > , < code > CV_32FC4</ code > or < code > CV_32FC6</ code > (5-channel layers are treated as 2D by < a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a > ). Extra fields are not used for pose/projection. < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5" > cellSize</ a > is the grid resolution in meters (must be > 0). < a class = "el" href = "classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb" > viewPoint</ a > is the sensor/view origin used when the grid was built.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1LaserScan.html" title = "Represents 2D or 3D laser scan data with support for multiple point data formats." > LaserScan</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html" title = "Builds per-node local occupancy grids from laser scans or depth clouds." > LocalGridMaker</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1LocalGridCache.html" title = "Cache of LocalGrid entries keyed by map node id." > LocalGridCache</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00061" > 61</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a42d930cf05d39ecbbd2e3678f8d0b47a" name = "a42d930cf05d39ecbbd2e3678f8d0b47a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a42d930cf05d39ecbbd2e3678f8d0b47a" > ◆  </ a ></ span > LocalGrid()</ h2 >
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< td class = "memname" > rtabmap::LocalGrid::LocalGrid </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > ground</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > obstacles</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > empty</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > cellSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Point3f &  </ td >
< td class = "paramname" >< em > viewPoint</ em > = < code > cv::Point3f(0,  0,  0)</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Builds a local grid from cell matrices. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > ground</ td >< td > Ground cell coordinates (may be empty). </ td ></ tr >
< tr >< td class = "paramname" > obstacles</ td >< td > Obstacle cell coordinates (may be empty). </ td ></ tr >
< tr >< td class = "paramname" > empty</ td >< td > Empty/free cell coordinates (may be empty). </ td ></ tr >
< tr >< td class = "paramname" > cellSize</ td >< td > Grid cell size in meters (must be > 0). </ td ></ tr >
< tr >< td class = "paramname" > viewPoint</ td >< td > View/sensor origin in the grid frame. </ td ></ tr >
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</ dd >
</ dl >
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< a id = "a63dede88dab99988dd9e6b513e7ee273" name = "a63dede88dab99988dd9e6b513e7ee273" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a63dede88dab99988dd9e6b513e7ee273" > ◆  </ a ></ span > ~LocalGrid()</ h2 >
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< td class = "memname" > virtual rtabmap::LocalGrid::~LocalGrid </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00077" > 77</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "af4bac3ac9ffd57653dee619b5be2b4f7" name = "af4bac3ac9ffd57653dee619b5be2b4f7" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af4bac3ac9ffd57653dee619b5be2b4f7" > ◆  </ a ></ span > is3D()</ h2 >
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< td class = "memname" > bool rtabmap::LocalGrid::is3D </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > True if every non-empty layer is < code > CV_32FC3</ code > , < code > CV_32FC4</ code > or < code > CV_32FC6</ code > (see class doc). </ dd ></ dl >
</ div >
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< h2 class = "groupheader" > Member Data Documentation</ h2 >
< a id = "a1d828782755374c7601810b35f99a9e5" name = "a1d828782755374c7601810b35f99a9e5" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1d828782755374c7601810b35f99a9e5" > ◆  </ a ></ span > groundCells</ h2 >
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< td class = "memname" > cv::Mat rtabmap::LocalGrid::groundCells</ td >
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< p > Ground cells (1× < code > CV_32FC2</ code > – < code > CV_32FC7</ code > , see class doc). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00082" > 82</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abe290c60168557fb899914f53e4ad1a1" > ◆  </ a ></ span > obstacleCells</ h2 >
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< td class = "memname" > cv::Mat rtabmap::LocalGrid::obstacleCells</ td >
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< p > Obstacle cells (same layout as < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5" > groundCells</ a > ). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00083" > 83</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< a id = "a7d0a732be74bd5c46e9029982bf4972b" name = "a7d0a732be74bd5c46e9029982bf4972b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7d0a732be74bd5c46e9029982bf4972b" > ◆  </ a ></ span > emptyCells</ h2 >
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< td class = "memname" > cv::Mat rtabmap::LocalGrid::emptyCells</ td >
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< p > Empty/free cells (same layout as < a class = "el" href = "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5" > groundCells</ a > ). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00084" > 84</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a13abf7a3ed9d8680ea339551401b62f5" > ◆  </ a ></ span > cellSize</ h2 >
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< td class = "memname" > float rtabmap::LocalGrid::cellSize</ td >
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< p > Cell size in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00085" > 85</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa8f5a6219144d584cde0fe6b565ac0bb" > ◆  </ a ></ span > viewPoint</ h2 >
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< td class = "memname" > cv::Point3f rtabmap::LocalGrid::viewPoint</ td >
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< p > View point used to build the grid. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00086" > 86</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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