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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_1LocalGridMaker.html
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<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -71,11 +93,6 @@ $(function() {
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<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_1LocalGridMaker.html">LocalGridMaker</a></li> </ul>
</div>
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<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -93,11 +110,11 @@ $(function() {
<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>
&#160;</td><td class="memItemRight" valign="bottom"><b>LocalGridMaker</b> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>LocalGridMaker</b> (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:a70040df32d1949125f24a193581b8183"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:a6395948673108c87dd371cb7b4a29026" id="r_a6395948673108c87dd371cb7b4a29026"><td class="memItemLeft" align="right" valign="top"><a id="a6395948673108c87dd371cb7b4a29026" name="a6395948673108c87dd371cb7b4a29026"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const ParametersMap &amp;parameters)</td></tr>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="memdesc:a6395948673108c87dd371cb7b4a29026"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:a305865c8f98b498b13a35ef0b790f926" id="r_a305865c8f98b498b13a35ef0b790f926"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">getCellSize</a> () const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:ac87cd571c91fe470775c7d9d4c0de5f5" id="r_ac87cd571c91fe470775c7d9d4c0de5f5"><td class="memItemLeft" align="right" valign="top">ParametersMap&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ac87cd571c91fe470775c7d9d4c0de5f5">parameters_</a></td></tr>
<tr class="memitem:ac87cd571c91fe470775c7d9d4c0de5f5" id="r_ac87cd571c91fe470775c7d9d4c0de5f5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ac87cd571c91fe470775c7d9d4c0de5f5">parameters_</a></td></tr>
<tr class="separator:ac87cd571c91fe470775c7d9d4c0de5f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b5b85fc47fe3652c9d40c2d922e0208" id="r_a1b5b85fc47fe3652c9d40c2d922e0208"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a1b5b85fc47fe3652c9d40c2d922e0208">cloudDecimation_</a></td></tr>
<tr class="separator:a1b5b85fc47fe3652c9d40c2d922e0208"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -186,7 +203,7 @@ Protected Attributes</h2></td></tr>
<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 util3d::occupancy2DFromLaserScan().</p>
<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>
@@ -407,8 +424,8 @@ template&lt;typename PointT &gt; </div>
<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 util3d::occupancy2DFromLaserScan() / util3d::create2DMap(). 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 createLocalMap(const LaserScan&amp;,...). </li>
<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>
@@ -494,7 +511,7 @@ template&lt;typename PointT &gt; </div>
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<td class="memname">ParametersMap rtabmap::LocalGridMaker::parameters_</td>
<td class="memname"><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> rtabmap::LocalGridMaker::parameters_</td>
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@@ -1185,9 +1202,13 @@ template&lt;typename PointT &gt; </div>
<li>corelib/include/rtabmap/core/impl/<a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a></li>
</ul>
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