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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-attribs" > Protected Attributes</ a > |
< a href = "classrtabmap_1_1LocalGridMaker-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::LocalGridMaker Class Reference</ div ></ div >
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< p > Builds per-node local occupancy grids from laser scans or depth clouds.
< a href = "classrtabmap_1_1LocalGridMaker.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.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:a70040df32d1949125f24a193581b8183" id = "r_a70040df32d1949125f24a193581b8183" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a70040df32d1949125f24a193581b8183" name = "a70040df32d1949125f24a193581b8183" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LocalGridMaker</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a70040df32d1949125f24a193581b8183" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs with < a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026" > parseParameters()</ a > on < code > parameters</ code > (or defaults). < br /></ td ></ tr >
< tr class = "separator:a70040df32d1949125f24a193581b8183" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6395948673108c87dd371cb7b4a29026" id = "r_a6395948673108c87dd371cb7b4a29026" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6395948673108c87dd371cb7b4a29026" name = "a6395948673108c87dd371cb7b4a29026" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > parseParameters</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:a6395948673108c87dd371cb7b4a29026" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Updates grid settings from < code > Grid/</ code > entries in < code > parameters</ code > . < br /></ td ></ tr >
< tr class = "separator:a6395948673108c87dd371cb7b4a29026" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a305865c8f98b498b13a35ef0b790f926" id = "r_a305865c8f98b498b13a35ef0b790f926" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926" > getCellSize</ a > () const</ td ></ tr >
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< tr class = "memitem:a60f571f0fd1e58a1a82eb39bfeafda2a" id = "r_a60f571f0fd1e58a1a82eb39bfeafda2a" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a" > isGridFromDepth</ a > () const</ td ></ tr >
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< tr class = "memitem:ae8fcd8ed901bc23bac3f14efb48567a9" id = "r_ae8fcd8ed901bc23bac3f14efb48567a9" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9" > isMapFrameProjection</ a > () const</ td ></ tr >
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< tr class = "memitem:ad54b92f6d04b76a550483a7a68f45bda" id = "r_ad54b92f6d04b76a550483a7a68f45bda" >< td class = "memTemplParams" colspan = "2" > template< typename PointT > </ td ></ tr >
< tr class = "memitem:ad54b92f6d04b76a550483a7a68f45bda" >< td class = "memTemplItemLeft" align = "right" valign = "top" > pcl::PointCloud< PointT > ::Ptr  </ td >< td class = "memTemplItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda" > segmentCloud</ a > (const typename pcl::PointCloud< PointT > ::Ptr & cloud, const pcl::IndicesPtr & indices, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, const cv::Point3f & viewPoint, pcl::IndicesPtr & groundIndices, pcl::IndicesPtr & obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</ td ></ tr >
< tr class = "memdesc:ad54b92f6d04b76a550483a7a68f45bda" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Segments a point cloud into ground and obstacle indices. < br /></ td ></ tr >
< tr class = "separator:ad54b92f6d04b76a550483a7a68f45bda" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a97d17a585226dcffe580406736e00117" id = "r_a97d17a585226dcffe580406736e00117" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117" > createLocalMap</ a > (const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & node, cv::Mat & groundCells, cv::Mat & obstacleCells, cv::Mat & emptyCells, cv::Point3f & viewPoint)</ td ></ tr >
< tr class = "memdesc:a97d17a585226dcffe580406736e00117" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Creates a local grid from a < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > 's laser scan or depth data. < br /></ td ></ tr >
< tr class = "separator:a97d17a585226dcffe580406736e00117" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3d43b8e022d7638262282ab2c7da0ead" id = "r_a3d43b8e022d7638262282ab2c7da0ead" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead" > createLocalMap</ a > (const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & cloud, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, cv::Mat & groundCells, cv::Mat & obstacleCells, cv::Mat & emptyCells, cv::Point3f & viewPointInOut) const</ td ></ tr >
< tr class = "memdesc:a3d43b8e022d7638262282ab2c7da0ead" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Creates a local grid from a 3D (or organized) < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > . < br /></ td ></ tr >
< tr class = "separator:a3d43b8e022d7638262282ab2c7da0ead" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-attribs" name = "pro-attribs" ></ a >
Protected Attributes</ h2 ></ td ></ tr >
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< tr class = "memitem:aff5afdcd6d9e07f478d32a2bc11955fb" id = "r_aff5afdcd6d9e07f478d32a2bc11955fb" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#aff5afdcd6d9e07f478d32a2bc11955fb" > rangeMax_</ a ></ td ></ tr >
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< tr class = "memitem:aa104be5475d4953ff9bdf421ec7c59c0" id = "r_aa104be5475d4953ff9bdf421ec7c59c0" >< td class = "memItemLeft" align = "right" valign = "top" > std::vector< float >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#aa104be5475d4953ff9bdf421ec7c59c0" > roiRatios_</ a ></ td ></ tr >
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< tr class = "memitem:a98313607c7be29d93ff6f9a9b07b7603" id = "r_a98313607c7be29d93ff6f9a9b07b7603" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a98313607c7be29d93ff6f9a9b07b7603" > footprintLength_</ a ></ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Builds per-node local occupancy grids from laser scans or depth clouds. </ p >
< p > Configured via < code > Grid/</ code > parameters (< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026" > parseParameters()</ a > ). Used by < a class = "el" href = "classrtabmap_1_1Memory.html" > Memory</ a > to populate < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > cells (ground / obstacles / empty) stored on < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > and cached in < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > for global maps (< a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a > , < a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > , < a class = "el" href = "classrtabmap_1_1GridMap.html" > GridMap</ a > ).</ p >
< p >< b > Sensor source</ b > (< code > Grid/Sensor</ code > , < a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a" > isGridFromDepth()</ a > ):</ p >< ul >
< li >< code > 0</ code > — laser scan only</ li >
< li >< code > 1</ code > — depth image(s) only (default)</ li >
< li >< code > 2</ code > — laser scan and depth</ li >
</ ul >
< p >< b > 2D laser path:</ b > projects a 2D < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > with < a class = "el" href = "namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d" > util3d::occupancy2DFromLaserScan()</ a > .</ p >
< p >< b > 3D path:</ b > segments the scan/cloud into ground and obstacles (< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda" > segmentCloud()</ a > ), then outputs < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > cell matrices (2D projection or 3D cells per < code > Grid/3D</ code > ).</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1LocalGrid.html" title = "Local occupancy grid cells for one map node (ground, obstacles, empty)." > LocalGrid</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1Memory.html" title = "Three-tiered memory management (STM, WM, LTM) for RTAB-Map." > Memory</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGridMaker_8h_source.html#l00064" > 64</ a > of file < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a305865c8f98b498b13a35ef0b790f926" name = "a305865c8f98b498b13a35ef0b790f926" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a305865c8f98b498b13a35ef0b790f926" > ◆  </ a ></ span > getCellSize()</ h2 >
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< td class = "memname" > float rtabmap::LocalGridMaker::getCellSize </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Current < code > Grid/CellSize</ code > (m). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGridMaker_8h_source.html#l00075" > 75</ a > of file < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a > .</ p >
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< a id = "a60f571f0fd1e58a1a82eb39bfeafda2a" name = "a60f571f0fd1e58a1a82eb39bfeafda2a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a60f571f0fd1e58a1a82eb39bfeafda2a" > ◆  </ a ></ span > isGridFromDepth()</ h2 >
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< td class = "memname" > bool rtabmap::LocalGridMaker::isGridFromDepth </ 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 occupancy is built from depth (< code > Grid/Sensor</ code > is 1 or 2). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGridMaker_8h_source.html#l00077" > 77</ a > of file < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae8fcd8ed901bc23bac3f14efb48567a9" > ◆  </ a ></ span > isMapFrameProjection()</ h2 >
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< td class = "memname" > bool rtabmap::LocalGridMaker::isMapFrameProjection </ 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 < code > Grid/MapFrameProjection</ code > is enabled. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGridMaker_8h_source.html#l00079" > 79</ a > of file < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a > .</ p >
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< a id = "ad54b92f6d04b76a550483a7a68f45bda" name = "ad54b92f6d04b76a550483a7a68f45bda" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad54b92f6d04b76a550483a7a68f45bda" > ◆  </ a ></ span > segmentCloud()</ h2 >
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template< typename PointT > </ div >
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< td class = "memname" > pcl::PointCloud< PointT > ::Ptr rtabmap::LocalGridMaker::segmentCloud </ td >
< td > (</ td >
< td class = "paramtype" > const typename pcl::PointCloud< PointT > ::Ptr &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const pcl::IndicesPtr &  </ td >
< td class = "paramname" >< em > indices</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > pose</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Point3f &  </ td >
< td class = "paramname" >< em > viewPoint</ em > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > pcl::IndicesPtr &  </ td >
< td class = "paramname" >< em > groundIndices</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > pcl::IndicesPtr &  </ td >
< td class = "paramname" >< em > obstaclesIndices</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > pcl::IndicesPtr *  </ td >
< td class = "paramname" >< em > flatObstacles</ em > = < code > 0</ code >   </ td >
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< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > Segments a point cloud into ground and obstacle indices. </ p >
< p > Applies optional voxel filtering (< code > Grid/PreVoxelFiltering</ code > , leaf size < code > Grid/CellSize</ code > ), footprint crop, height filtering, then either normal-based ground segmentation (< code > Grid/NormalsSegmentation</ code > ) or Z passthrough.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cloud</ td >< td > Input cloud (sensor frame, transformed internally using < code > pose</ code > ). Must be non-null; an empty cloud is allowed and returns empty outputs. </ td ></ tr >
< tr >< td class = "paramname" > indices</ td >< td > Subset of < code > cloud</ code > to process (must be non-null; empty = all points when the cloud is dense). </ td ></ tr >
< tr >< td class = "paramname" > pose</ td >< td > Node pose (used for map-frame projection and footprint). </ td ></ tr >
< tr >< td class = "paramname" > viewPoint</ td >< td > Sensor origin for segmentation / ray tracing. </ td ></ tr >
< tr >< td class = "paramname" > groundIndices</ td >< td > Output indices of ground points. </ td ></ tr >
< tr >< td class = "paramname" > obstaclesIndices</ td >< td > Output indices of obstacle points. </ td ></ tr >
< tr >< td class = "paramname" > flatObstacles</ td >< td > Optional output for flat obstacle clusters. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > Segmented cloud (voxel-downsampled when < code > Grid/PreVoxelFiltering</ code > is true, using < code > Grid/CellSize</ code > ). </ dd ></ dl >
2026-08-24 05:47:39 +00:00
< p class = "definition" > Definition at line < a class = "el" href = "LocalMapMaker_8hpp_source.html#l00068" > 68</ a > of file < a class = "el" href = "LocalMapMaker_8hpp_source.html" > LocalMapMaker.hpp</ a > .</ p >
2026-08-06 22:56:24 +00:00
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a97d17a585226dcffe580406736e00117" > ◆  </ a ></ span > createLocalMap() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > void rtabmap::LocalGridMaker::createLocalMap </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > &  </ td >
< td class = "paramname" >< em > node</ em > , </ td >
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< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > groundCells</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > obstacleCells</ em > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > emptyCells</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > cv::Point3f &  </ td >
< td class = "paramname" >< em > viewPoint</ em >   </ td >
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< td > )</ td >
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< p > Creates a local grid from a < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > 's laser scan or depth data. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > node</ td >< td >< a class = "el" href = "classrtabmap_1_1Signature.html" title = "Represents a node in RTAB-Map's pose graph." > Signature</ a > with sensor data (pose used for 3D scans). </ td ></ tr >
< tr >< td class = "paramname" > groundCells</ td >< td > Output ground cells (< a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > format). </ td ></ tr >
< tr >< td class = "paramname" > obstacleCells</ td >< td > Output obstacle cells. </ td ></ tr >
< tr >< td class = "paramname" > emptyCells</ td >< td > Output empty/free cells. Behavior depends on the sensor path:< ul >
< li >< b > 2D laser, laser-only mode</ b > (< code > Grid/Sensor</ code > =0 and a 2D < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > ): uses < a class = "el" href = "namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d" > util3d::occupancy2DFromLaserScan()</ a > / < a class = "el" href = "namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23" > util3d::create2DMap()</ a > . Free space along each hit beam is always ray-traced (sensor → obstacle). < code > Grid/Scan2dUnknownSpaceFilled</ code > is separate: when true, it additionally sweeps unknown angular gaps between the first and last hit (sparse FOV / “holes” in coverage) out to < code > Grid/RangeMax</ code > or scan max range.</ li >
< li >< b > Other cases</ b > (3D scan, depth, < code > Grid/Sensor</ code > =2, etc.): see the < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > overload of < a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117" > createLocalMap()</ a > . </ li >
</ ul >
</ td ></ tr >
< tr >< td class = "paramname" > viewPoint</ td >< td > Output view point used for the grid. </ td ></ tr >
</ table >
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< td class = "memname" > void rtabmap::LocalGridMaker::createLocalMap </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > pose</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > groundCells</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > obstacleCells</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > emptyCells</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Point3f &  </ td >
< td class = "paramname" >< em > viewPointInOut</ em >   </ td >
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< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > Creates a local grid from a 3D (or organized) < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > . </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cloud</ td >< td > Input scan in sensor frame. </ td ></ tr >
< tr >< td class = "paramname" > pose</ td >< td > Node pose in map/odom frame. </ td ></ tr >
< tr >< td class = "paramname" > groundCells</ td >< td > Output ground cells. </ td ></ tr >
< tr >< td class = "paramname" > obstacleCells</ td >< td > Output obstacle cells. </ td ></ tr >
< tr >< td class = "paramname" > emptyCells</ td >< td > Output empty/free cells. Filled when < code > Grid/RayTracing</ code > is true: 3D via < a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > if < code > Grid/3D</ code > and < a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > support are enabled (< code > Grid/RangeMax</ code > , < code > Grid/CellSize</ code > ); otherwise 2D ray fill via < code > occupancy2DFromLaserScan</ code > when < code > Grid/3D</ code > is false (< code > Grid/RangeMax</ code > , < code > Grid/CellSize</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > viewPointInOut</ td >< td > View point (may be rotated if < a class = "el" href = "classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9" > isMapFrameProjection()</ a > ). </ td ></ tr >
</ table >
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< h2 class = "groupheader" > Member Data Documentation</ h2 >
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< td class = "memname" >< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > rtabmap::LocalGridMaker::parameters_</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGridMaker_8h_source.html#l00201" > 201</ a > of file < a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following files:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "LocalGridMaker_8h_source.html" > LocalGridMaker.h</ a ></ li >
< li > corelib/include/rtabmap/core/impl/< a class = "el" href = "LocalMapMaker_8hpp_source.html" > LocalMapMaker.hpp</ 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_1LocalGridMaker.html" > LocalGridMaker</ 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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