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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
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commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
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preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap.html
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -50,6 +55,23 @@ $(function() {
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('classrtabmap_1_1GlobalMap.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -71,11 +93,6 @@ $(function() {
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -106,7 +123,7 @@ Inheritance diagram for rtabmap::GlobalMap:</div>
<area shape="rect" href="classrtabmap_1_1OctoMap.html" title=" " alt="" coords="551,79,693,104"/>
<area shape="poly" title=" " alt="" coords="401,31,577,76,576,81,399,37"/>
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<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>
@@ -152,7 +169,7 @@ Static Public Member Functions</h2></td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a03581caaa2a313b131726af4e4a6b714" id="r_a03581caaa2a313b131726af4e4a6b714"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">GlobalMap</a> (const <a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> *<a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">cache</a>, const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a03581caaa2a313b131726af4e4a6b714" id="r_a03581caaa2a313b131726af4e4a6b714"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">GlobalMap</a> (const <a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> *<a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">cache</a>, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a03581caaa2a313b131726af4e4a6b714"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the base map; subclasses call from their constructor. <br /></td></tr>
<tr class="separator:a03581caaa2a313b131726af4e4a6b714"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae622850e2447bf1cc3e99ee9dcd4b65f" id="r_ae622850e2447bf1cc3e99ee9dcd4b65f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">assemble</a> (const std::list&lt; std::pair&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; &amp;newPoses)=0</td></tr>
@@ -193,7 +210,7 @@ Protected Attributes</h2></td></tr>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Abstract base for assembling per-node <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> data into a global map. </p>
<p>Subclasses (<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>, <a class="el" href="classrtabmap_1_1CloudMap.html">CloudMap</a>) implement <a class="el" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">assemble()</a> to merge new node poses from <a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> into their representation.</p>
<p><a class="el" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">update()</a> decides which poses need assembly (not yet in <a class="el" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">addedNodes()</a>, present in cache, id &gt; 0) and may call <a class="el" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">clear()</a> when <a class="el" href="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a">fullUpdateNeeded()</a> detects graph optimization or a disjoint pose set (see kGridGlobalUpdateError).</p>
<p><a class="el" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">update()</a> decides which poses need assembly (not yet in <a class="el" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">addedNodes()</a>, present in cache, id &gt; 0) and may call <a class="el" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">clear()</a> when <a class="el" href="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a">fullUpdateNeeded()</a> detects graph optimization or a disjoint pose set (see <a class="el" href="classrtabmap_1_1Parameters.html#ad8552e70b80bf9406fd87c807e6134b9">Parameters::kGridGlobalUpdateError()</a>).</p>
<p>Log-odds helpers <a class="el" href="classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a">logodds()</a> and <a class="el" href="classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a">probability()</a> convert between occupancy probability and the internal log-odds representation used for global hit/miss/clamping parameters (GridGlobal/Prob*). </p>
<p class="definition">Definition at line <a class="el" href="GlobalMap_8h_source.html#l00055">55</a> of file <a class="el" href="GlobalMap_8h_source.html">GlobalMap.h</a>.</p>
@@ -216,8 +233,8 @@ Protected Attributes</h2></td></tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code>ParametersMap()</code>&#160;</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code>&#160;</td>
</tr>
<tr>
<td></td>
@@ -321,7 +338,7 @@ Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>True if the map should be rebuilt from cache (loop closure or disjoint graph). </p>
<p>Compares <code>poses</code> to <a class="el" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">addedNodes()</a> using <a class="el" href="classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4">getUpdateError()</a>, which is set from <b>Grid/GlobalUpdateError</b> (<code>Parameters::kGridGlobalUpdateError()</code>): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in <code>poses</code>, returns true and <a class="el" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">update()</a> will call <a class="el" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">clear()</a> first.</p>
<p>Compares <code>poses</code> to <a class="el" href="classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4">addedNodes()</a> using <a class="el" href="classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4">getUpdateError()</a>, which is set from <b>Grid/GlobalUpdateError</b> (<code><a class="el" href="classrtabmap_1_1Parameters.html#ad8552e70b80bf9406fd87c807e6134b9" title="Key of parameter GridGlobal/UpdateError : &quot;Graph changed detection error (m). Update map only if pose...">Parameters::kGridGlobalUpdateError()</a></code>): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in <code>poses</code>, returns true and <a class="el" href="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">update()</a> will call <a class="el" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">clear()</a> first.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">poses</td><td>Current graph poses (node id → transform). </td></tr>
@@ -1008,9 +1025,13 @@ Protected Attributes</h2></td></tr>
<li>corelib/include/rtabmap/core/<a class="el" href="GlobalMap_8h_source.html">GlobalMap.h</a></li>
</ul>
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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_1GlobalMap.html">GlobalMap</a></li>
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