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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef SRC_LOCAL_MAP_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define SRC_LOCAL_MAP_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &lt;rtabmap/core/Signature.h&gt;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html"> 64</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1LocalGridMaker.html">LocalGridMaker</a></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>{</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183"> 68</a></span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183">LocalGridMaker</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridMaker.html">~LocalGridMaker</a>();</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026"> 72</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926"> 75</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">getCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> cellSize_;}</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a"> 77</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> occupancySensor_;}</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9"> 79</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9">isMapFrameProjection</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> projMapFrame_;}</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr segmentCloud(</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr &amp; cloud,</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose,</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> pcl::IndicesPtr &amp; groundIndices, <span class="comment">// output cloud indices</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> pcl::IndicesPtr &amp; obstaclesIndices, <span class="comment">// output cloud indices</span></div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> pcl::IndicesPtr * flatObstacles = 0) <span class="keyword">const</span>; <span class="comment">// output cloud indices</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117"> 123</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117">createLocalMap</a>(</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> &amp; node,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> cv::Mat &amp; groundCells,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> cv::Mat &amp; obstacleCells,</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> cv::Mat &amp; emptyCells,</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> cv::Point3f &amp; viewPoint);</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead"> 143</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead">createLocalMap</a>(</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; cloud,</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> cv::Mat &amp; groundCells,</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> cv::Mat &amp; obstacleCells,</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> cv::Mat &amp; emptyCells,</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> cv::Point3f &amp; viewPointInOut) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cloudDecimation_;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">float</span> rangeMax_;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">float</span> rangeMin_;</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> std::vector&lt;float&gt; roiRatios_;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">float</span> footprintLength_;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> footprintWidth_;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">float</span> footprintHeight_;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">int</span> scanDecimation_;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> cellSize_;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> preVoxelFiltering_;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> occupancySensor_;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">bool</span> projMapFrame_;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> maxObstacleHeight_;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">int</span> normalKSearch_;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> groundNormalsUp_;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">float</span> maxGroundAngle_;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> clusterRadius_;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">int</span> minClusterSize_;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">bool</span> flatObstaclesDetected_;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">float</span> minGroundHeight_;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">float</span> maxGroundHeight_;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> normalsSegmentation_;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> grid3D_;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">bool</span> groundIsObstacle_;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">float</span> noiseFilteringRadius_;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">int</span> noiseFilteringMinNeighbors_;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">bool</span> scan2dUnknownSpaceFilled_;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">bool</span> rayTracing_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span>};</div>
</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span><span class="preprocessor">#include &lt;rtabmap/core/impl/LocalMapMaker.hpp&gt;</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span><span class="preprocessor">#endif </span><span class="comment">/* SRC_LOCAL_MAP_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html">rtabmap::LocalGridMaker</a></div><div class="ttdoc">Builds per-node local occupancy grids from laser scans or depth clouds.</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00064">LocalGridMaker.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a305865c8f98b498b13a35ef0b790f926"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">rtabmap::LocalGridMaker::getCellSize</a></div><div class="ttdeci">float getCellSize() const</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00075">LocalGridMaker.h:75</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a3d43b8e022d7638262282ab2c7da0ead"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead">rtabmap::LocalGridMaker::createLocalMap</a></div><div class="ttdeci">void createLocalMap(const LaserScan &amp;cloud, const Transform &amp;pose, cv::Mat &amp;groundCells, cv::Mat &amp;obstacleCells, cv::Mat &amp;emptyCells, cv::Point3f &amp;viewPointInOut) const</div><div class="ttdoc">Creates a local grid from a 3D (or organized) LaserScan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a60f571f0fd1e58a1a82eb39bfeafda2a"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">rtabmap::LocalGridMaker::isGridFromDepth</a></div><div class="ttdeci">bool isGridFromDepth() const</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00077">LocalGridMaker.h:77</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a6395948673108c87dd371cb7b4a29026"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026">rtabmap::LocalGridMaker::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Updates grid settings from Grid/ entries in parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a70040df32d1949125f24a193581b8183"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183">rtabmap::LocalGridMaker::LocalGridMaker</a></div><div class="ttdeci">LocalGridMaker(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructs with parseParameters() on parameters (or defaults).</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a97d17a585226dcffe580406736e00117"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117">rtabmap::LocalGridMaker::createLocalMap</a></div><div class="ttdeci">void createLocalMap(const Signature &amp;node, cv::Mat &amp;groundCells, cv::Mat &amp;obstacleCells, cv::Mat &amp;emptyCells, cv::Point3f &amp;viewPoint)</div><div class="ttdoc">Creates a local grid from a Signature's laser scan or depth data.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_ae8fcd8ed901bc23bac3f14efb48567a9"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9">rtabmap::LocalGridMaker::isMapFrameProjection</a></div><div class="ttdeci">bool isMapFrameProjection() const</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00079">LocalGridMaker.h:79</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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