<trclass="memdesc:a42d930cf05d39ecbbd2e3678f8d0b47a"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Builds a local grid from cell matrices. <br/></td></tr>
<trclass="memdesc:a1d828782755374c7601810b35f99a9e5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Ground cells (1×N, <code>CV_32FC2</code>–<code>CV_32FC7</code>, see class doc). <br/></td></tr>
<trclass="memdesc:aa8f5a6219144d584cde0fe6b565ac0bb"><tdclass="mdescLeft"> </td><tdclass="mdescRight">View point used to build the grid. <br/></td></tr>
<divclass="textblock"><p>Local occupancy grid cells for one map node (ground, obstacles, empty). </p>
<p>Each layer is stored as a 1×N <code>cv::Mat</code> of cell coordinates in the robot/base frame. Layouts match <aclass="el"href="classrtabmap_1_1LaserScan.html">LaserScan</a> grid storage (<aclass="el"href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">LaserScan::Format</a>):</p><ul>
<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><aclass="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 <aclass="el"href="classrtabmap_1_1OccupancyGrid.html">OccupancyGrid</a>). Extra fields are not used for pose/projection. <aclass="el"href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">cellSize</a> is the grid resolution in meters (must be > 0). <aclass="el"href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">viewPoint</a> is the sensor/view origin used when the grid was built.</p>
<dlclass="section see"><dt>See also</dt><dd><aclass="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>
<aclass="el"href="classrtabmap_1_1LocalGridMaker.html"title="Builds per-node local occupancy grids from laser scans or depth clouds.">LocalGridMaker</a></dd>
<aclass="el"href="classrtabmap_1_1LocalGridCache.html"title="Cache of LocalGrid entries keyed by map node id.">LocalGridCache</a></dd></dl>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00061">61</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00077">77</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
</div>
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<h2class="groupheader">Member Function Documentation</h2>
<dlclass="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>
</div>
<h2class="groupheader">Member Data Documentation</h2>
<p>Ground cells (1×N, <code>CV_32FC2</code>–<code>CV_32FC7</code>, see class doc). </p>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00082">82</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
<p>Obstacle cells (same layout as <aclass="el"href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). </p>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00083">83</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
<p>Empty/free cells (same layout as <aclass="el"href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). </p>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00084">84</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00085">85</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="LocalGrid_8h_source.html#l00086">86</a> of file <aclass="el"href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
</div>
</div>
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