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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">rtabmap::LocalGrid Class Reference</div></div>
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<p>Local occupancy grid cells for one map node (ground, obstacles, empty).
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<a href="classrtabmap_1_1LocalGrid.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a42d930cf05d39ecbbd2e3678f8d0b47a" id="r_a42d930cf05d39ecbbd2e3678f8d0b47a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a">LocalGrid</a> (const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float <a class="el" href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">cellSize</a>, const cv::Point3f &<a class="el" href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">viewPoint</a>=cv::Point3f(0, 0, 0))</td></tr>
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<tr class="memdesc:a42d930cf05d39ecbbd2e3678f8d0b47a"><td class="mdescLeft"> </td><td class="mdescRight">Builds a local grid from cell matrices. <br /></td></tr>
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<tr class="separator:a42d930cf05d39ecbbd2e3678f8d0b47a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af4bac3ac9ffd57653dee619b5be2b4f7" id="r_af4bac3ac9ffd57653dee619b5be2b4f7"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7">is3D</a> () const</td></tr>
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<tr class="separator:af4bac3ac9ffd57653dee619b5be2b4f7"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:a1d828782755374c7601810b35f99a9e5" id="r_a1d828782755374c7601810b35f99a9e5"><td class="memItemLeft" align="right" valign="top">cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a></td></tr>
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<tr class="memdesc:a1d828782755374c7601810b35f99a9e5"><td class="mdescLeft"> </td><td class="mdescRight">Ground cells (1×N, <code>CV_32FC2</code>–<code>CV_32FC7</code>, see class doc). <br /></td></tr>
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<tr class="separator:a1d828782755374c7601810b35f99a9e5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abe290c60168557fb899914f53e4ad1a1" id="r_abe290c60168557fb899914f53e4ad1a1"><td class="memItemLeft" align="right" valign="top">cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1">obstacleCells</a></td></tr>
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<tr class="memdesc:abe290c60168557fb899914f53e4ad1a1"><td class="mdescLeft"> </td><td class="mdescRight">Obstacle cells (same layout as <a class="el" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). <br /></td></tr>
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<tr class="separator:abe290c60168557fb899914f53e4ad1a1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7d0a732be74bd5c46e9029982bf4972b" id="r_a7d0a732be74bd5c46e9029982bf4972b"><td class="memItemLeft" align="right" valign="top">cv::Mat </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b">emptyCells</a></td></tr>
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<tr class="memdesc:a7d0a732be74bd5c46e9029982bf4972b"><td class="mdescLeft"> </td><td class="mdescRight">Empty/free cells (same layout as <a class="el" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). <br /></td></tr>
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<tr class="separator:a7d0a732be74bd5c46e9029982bf4972b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a13abf7a3ed9d8680ea339551401b62f5" id="r_a13abf7a3ed9d8680ea339551401b62f5"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">cellSize</a></td></tr>
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<tr class="memdesc:a13abf7a3ed9d8680ea339551401b62f5"><td class="mdescLeft"> </td><td class="mdescRight">Cell size in meters. <br /></td></tr>
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<tr class="separator:a13abf7a3ed9d8680ea339551401b62f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa8f5a6219144d584cde0fe6b565ac0bb" id="r_aa8f5a6219144d584cde0fe6b565ac0bb"><td class="memItemLeft" align="right" valign="top">cv::Point3f </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">viewPoint</a></td></tr>
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<tr class="memdesc:aa8f5a6219144d584cde0fe6b565ac0bb"><td class="mdescLeft"> </td><td class="mdescRight">View point used to build the grid. <br /></td></tr>
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<tr class="separator:aa8f5a6219144d584cde0fe6b565ac0bb"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Local occupancy grid cells for one map node (ground, obstacles, empty). </p>
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<p>Each layer is stored as a 1×N <code>cv::Mat</code> of cell coordinates in the robot/base frame. Layouts match <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> grid storage (<a class="el" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">LaserScan::Format</a>):</p><ul>
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<li><code>CV_32FC2</code> (2 ch): <code>kXY</code> — (x, y)</li>
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<li><code>CV_32FC3</code> (3 ch): <code>kXYZ</code> or <code>kXYI</code> — (x, y, z) or (x, y, intensity)</li>
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<li><code>CV_32FC4</code> (4 ch): <code>kXYZI</code> or <code>kXYZRGB</code> — (x, y, z, intensity) or (x, y, z, RGB)</li>
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<li><code>CV_32FC5</code> (5 ch): <code>kXYNormal</code> or <code>kXYZIT</code> — 2D (x, y, nx, ny, nz) or 3D (x, y, z, intensity, time)</li>
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<li><code>CV_32FC6</code> (6 ch): <code>kXYINormal</code>, <code>kXYZNormal</code> or <code>kXYZIRT</code></li>
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<li><code>CV_32FC7</code> (7 ch): <code>kXYZINormal</code> or <code>kXYZRGBNormal</code></li>
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</ul>
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<p><a class="el" href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7">is3D()</a> is true when every non-empty layer is <code>CV_32FC3</code>, <code>CV_32FC4</code> or <code>CV_32FC6</code> (5-channel layers are treated as 2D by <a class="el" href="classrtabmap_1_1OccupancyGrid.html">OccupancyGrid</a>). Extra fields are not used for pose/projection. <a class="el" href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">cellSize</a> is the grid resolution in meters (must be > 0). <a class="el" href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">viewPoint</a> is the sensor/view origin used when the grid was built.</p>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1LocalGridMaker.html" title="Builds per-node local occupancy grids from laser scans or depth clouds.">LocalGridMaker</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1OccupancyGrid.html">OccupancyGrid</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1LocalGridCache.html" title="Cache of LocalGrid entries keyed by map node id.">LocalGridCache</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00061">61</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a42d930cf05d39ecbbd2e3678f8d0b47a" name="a42d930cf05d39ecbbd2e3678f8d0b47a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a42d930cf05d39ecbbd2e3678f8d0b47a">◆ </a></span>LocalGrid()</h2>
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<td class="memname">rtabmap::LocalGrid::LocalGrid </td>
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<td>(</td>
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<td class="paramtype">const cv::Mat & </td>
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<td class="paramname"><em>ground</em>, </td>
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<td class="paramtype">const cv::Mat & </td>
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<td class="paramname"><em>obstacles</em>, </td>
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<td class="paramtype">const cv::Mat & </td>
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<td class="paramname"><em>empty</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>cellSize</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const cv::Point3f & </td>
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<td class="paramname"><em>viewPoint</em> = <code>cv::Point3f(0, 0, 0)</code> </td>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Builds a local grid from cell matrices. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">ground</td><td>Ground cell coordinates (may be empty). </td></tr>
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<tr><td class="paramname">obstacles</td><td>Obstacle cell coordinates (may be empty). </td></tr>
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<tr><td class="paramname">empty</td><td>Empty/free cell coordinates (may be empty). </td></tr>
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<tr><td class="paramname">cellSize</td><td>Grid cell size in meters (must be > 0). </td></tr>
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<tr><td class="paramname">viewPoint</td><td>View/sensor origin in the grid frame. </td></tr>
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</table>
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</dd>
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<a id="a63dede88dab99988dd9e6b513e7ee273" name="a63dede88dab99988dd9e6b513e7ee273"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a63dede88dab99988dd9e6b513e7ee273">◆ </a></span>~LocalGrid()</h2>
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<td class="memname">virtual rtabmap::LocalGrid::~LocalGrid </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td></td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00077">77</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="af4bac3ac9ffd57653dee619b5be2b4f7" name="af4bac3ac9ffd57653dee619b5be2b4f7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af4bac3ac9ffd57653dee619b5be2b4f7">◆ </a></span>is3D()</h2>
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<td class="memname">bool rtabmap::LocalGrid::is3D </td>
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<td>(</td>
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<td> const</td>
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<dl class="section return"><dt>Returns</dt><dd>True if every non-empty layer is <code>CV_32FC3</code>, <code>CV_32FC4</code> or <code>CV_32FC6</code> (see class doc). </dd></dl>
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<h2 class="groupheader">Member Data Documentation</h2>
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<a id="a1d828782755374c7601810b35f99a9e5" name="a1d828782755374c7601810b35f99a9e5"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d828782755374c7601810b35f99a9e5">◆ </a></span>groundCells</h2>
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<td class="memname">cv::Mat rtabmap::LocalGrid::groundCells</td>
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<p>Ground cells (1×N, <code>CV_32FC2</code>–<code>CV_32FC7</code>, see class doc). </p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00082">82</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abe290c60168557fb899914f53e4ad1a1">◆ </a></span>obstacleCells</h2>
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<p>Obstacle cells (same layout as <a class="el" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). </p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00083">83</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7d0a732be74bd5c46e9029982bf4972b">◆ </a></span>emptyCells</h2>
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<td class="memname">cv::Mat rtabmap::LocalGrid::emptyCells</td>
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<p>Empty/free cells (same layout as <a class="el" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>). </p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00084">84</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a13abf7a3ed9d8680ea339551401b62f5">◆ </a></span>cellSize</h2>
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<td class="memname">float rtabmap::LocalGrid::cellSize</td>
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<p>Cell size in meters. </p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00085">85</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<a id="aa8f5a6219144d584cde0fe6b565ac0bb" name="aa8f5a6219144d584cde0fe6b565ac0bb"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8f5a6219144d584cde0fe6b565ac0bb">◆ </a></span>viewPoint</h2>
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<td class="memname">cv::Point3f rtabmap::LocalGrid::viewPoint</td>
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<p>View point used to build the grid. </p>
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<p class="definition">Definition at line <a class="el" href="LocalGrid_8h_source.html#l00086">86</a> of file <a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="LocalGrid_8h_source.html">LocalGrid.h</a></li>
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