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@@ -185,45 +185,54 @@ $(document).ready(function(){initNavTree('LocalGridMaker_8h_source.html',''); in
<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 class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</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="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">static</span> pcl::IndicesPtr noiseFilteringWithMaxRange(</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</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="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> pcl::IndicesPtr &amp; indices,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> maxRange,</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> radiusSearch,</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">int</span> minNeighborsInRadius);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> </div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cloudDecimation_;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">float</span> rangeMax_;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">float</span> rangeMin_;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> std::vector&lt;float&gt; roiRatios_;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">float</span> footprintLength_;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">float</span> footprintWidth_;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">float</span> footprintHeight_;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> scanDecimation_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">float</span> cellSize_;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">bool</span> preVoxelFiltering_;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">int</span> occupancySensor_;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">bool</span> projMapFrame_;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">float</span> maxObstacleHeight_;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">int</span> normalKSearch_;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">float</span> groundNormalsUp_;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">float</span> maxGroundAngle_;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">float</span> clusterRadius_;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">int</span> minClusterSize_;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">bool</span> flatObstaclesDetected_;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">float</span> minGroundHeight_;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">float</span> maxGroundHeight_;</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">bool</span> normalsSegmentation_;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">bool</span> grid3D_;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">bool</span> groundIsObstacle_;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">float</span> noiseFilteringRadius_;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">int</span> noiseFilteringMinNeighbors_;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">bool</span> scan2dUnknownSpaceFilled_;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> rayTracing_;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</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="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span><span class="preprocessor">#include &lt;rtabmap/core/impl/LocalMapMaker.hpp&gt;</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</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>