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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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<p>Builds per-node local occupancy grids from laser scans or depth clouds.
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<a href="classrtabmap_1_1LocalGridMaker.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.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:a70040df32d1949125f24a193581b8183" id="r_a70040df32d1949125f24a193581b8183"><td class="memItemLeft" align="right" valign="top"><a id="a70040df32d1949125f24a193581b8183" name="a70040df32d1949125f24a193581b8183"></a>
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 </td><td class="memItemRight" valign="bottom"><b>LocalGridMaker</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:a70040df32d1949125f24a193581b8183"><td class="mdescLeft"> </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>
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<tr class="separator:a70040df32d1949125f24a193581b8183"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6395948673108c87dd371cb7b4a29026" id="r_a6395948673108c87dd371cb7b4a29026"><td class="memItemLeft" align="right" valign="top"><a id="a6395948673108c87dd371cb7b4a29026" name="a6395948673108c87dd371cb7b4a29026"></a>
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virtual void </td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters)</td></tr>
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<tr class="memdesc:a6395948673108c87dd371cb7b4a29026"><td class="mdescLeft"> </td><td class="mdescRight">Updates grid settings from <code>Grid/</code> entries in <code>parameters</code>. <br /></td></tr>
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<tr class="separator:a6395948673108c87dd371cb7b4a29026"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a305865c8f98b498b13a35ef0b790f926" id="r_a305865c8f98b498b13a35ef0b790f926"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">getCellSize</a> () const</td></tr>
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<tr class="separator:a305865c8f98b498b13a35ef0b790f926"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a60f571f0fd1e58a1a82eb39bfeafda2a" id="r_a60f571f0fd1e58a1a82eb39bfeafda2a"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth</a> () const</td></tr>
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<tr class="separator:a60f571f0fd1e58a1a82eb39bfeafda2a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae8fcd8ed901bc23bac3f14efb48567a9" id="r_ae8fcd8ed901bc23bac3f14efb48567a9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9">isMapFrameProjection</a> () const</td></tr>
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<tr class="separator:ae8fcd8ed901bc23bac3f14efb48567a9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad54b92f6d04b76a550483a7a68f45bda" id="r_ad54b92f6d04b76a550483a7a68f45bda"><td class="memTemplParams" colspan="2">template<typename PointT > </td></tr>
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<tr class="memitem:ad54b92f6d04b76a550483a7a68f45bda"><td class="memTemplItemLeft" align="right" valign="top">pcl::PointCloud< PointT >::Ptr </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">segmentCloud</a> (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</td></tr>
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<tr class="memdesc:ad54b92f6d04b76a550483a7a68f45bda"><td class="mdescLeft"> </td><td class="mdescRight">Segments a point cloud into ground and obstacle indices. <br /></td></tr>
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<tr class="separator:ad54b92f6d04b76a550483a7a68f45bda"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a97d17a585226dcffe580406736e00117" id="r_a97d17a585226dcffe580406736e00117"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117">createLocalMap</a> (const <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)</td></tr>
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<tr class="memdesc:a97d17a585226dcffe580406736e00117"><td class="mdescLeft"> </td><td class="mdescRight">Creates a local grid from a <a class="el" href="classrtabmap_1_1Signature.html">Signature</a>'s laser scan or depth data. <br /></td></tr>
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<tr class="separator:a97d17a585226dcffe580406736e00117"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3d43b8e022d7638262282ab2c7da0ead" id="r_a3d43b8e022d7638262282ab2c7da0ead"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead">createLocalMap</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const</td></tr>
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<tr class="memdesc:a3d43b8e022d7638262282ab2c7da0ead"><td class="mdescLeft"> </td><td class="mdescRight">Creates a local grid from a 3D (or organized) <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a>. <br /></td></tr>
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<tr class="separator:a3d43b8e022d7638262282ab2c7da0ead"><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="pro-attribs" name="pro-attribs"></a>
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Protected Attributes</h2></td></tr>
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<tr class="memitem:ac87cd571c91fe470775c7d9d4c0de5f5" id="r_ac87cd571c91fe470775c7d9d4c0de5f5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ac87cd571c91fe470775c7d9d4c0de5f5">parameters_</a></td></tr>
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<tr class="separator:ac87cd571c91fe470775c7d9d4c0de5f5"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1b5b85fc47fe3652c9d40c2d922e0208" id="r_a1b5b85fc47fe3652c9d40c2d922e0208"><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a1b5b85fc47fe3652c9d40c2d922e0208">cloudDecimation_</a></td></tr>
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<tr class="separator:a1b5b85fc47fe3652c9d40c2d922e0208"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aff5afdcd6d9e07f478d32a2bc11955fb" id="r_aff5afdcd6d9e07f478d32a2bc11955fb"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#aff5afdcd6d9e07f478d32a2bc11955fb">rangeMax_</a></td></tr>
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<tr class="separator:aff5afdcd6d9e07f478d32a2bc11955fb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac5a445d88cd2f2b51efe2c8a356374de" id="r_ac5a445d88cd2f2b51efe2c8a356374de"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ac5a445d88cd2f2b51efe2c8a356374de">rangeMin_</a></td></tr>
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<tr class="separator:ac5a445d88cd2f2b51efe2c8a356374de"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa104be5475d4953ff9bdf421ec7c59c0" id="r_aa104be5475d4953ff9bdf421ec7c59c0"><td class="memItemLeft" align="right" valign="top">std::vector< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#aa104be5475d4953ff9bdf421ec7c59c0">roiRatios_</a></td></tr>
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<tr class="memitem:a98313607c7be29d93ff6f9a9b07b7603" id="r_a98313607c7be29d93ff6f9a9b07b7603"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a98313607c7be29d93ff6f9a9b07b7603">footprintLength_</a></td></tr>
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<tr class="memitem:a6954fbe877642dbd3baf870d0640f6a1" id="r_a6954fbe877642dbd3baf870d0640f6a1"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a6954fbe877642dbd3baf870d0640f6a1">footprintWidth_</a></td></tr>
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<tr class="memitem:a828e6b4da39194aa74138e7740273b62" id="r_a828e6b4da39194aa74138e7740273b62"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a828e6b4da39194aa74138e7740273b62">footprintHeight_</a></td></tr>
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<tr class="memitem:af37cc33403dd9cba1f3f6c2af88516a0" id="r_af37cc33403dd9cba1f3f6c2af88516a0"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#af37cc33403dd9cba1f3f6c2af88516a0">scanDecimation_</a></td></tr>
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<tr class="memitem:a383971a4dc9bc24724e44fd37dd6d969" id="r_a383971a4dc9bc24724e44fd37dd6d969"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a383971a4dc9bc24724e44fd37dd6d969">cellSize_</a></td></tr>
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<tr class="memitem:abe29d5d2203812b9249e9e5860f0cba4" id="r_abe29d5d2203812b9249e9e5860f0cba4"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#abe29d5d2203812b9249e9e5860f0cba4">preVoxelFiltering_</a></td></tr>
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<tr class="memitem:a685e46e376a3a12bbdf220b7efd749f8" id="r_a685e46e376a3a12bbdf220b7efd749f8"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a685e46e376a3a12bbdf220b7efd749f8">occupancySensor_</a></td></tr>
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<tr class="memitem:a3457df241a693487e29ed8781eff05c4" id="r_a3457df241a693487e29ed8781eff05c4"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a3457df241a693487e29ed8781eff05c4">projMapFrame_</a></td></tr>
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<tr class="memitem:a3eb45d0390a1b02e8f2775508f80b8c2" id="r_a3eb45d0390a1b02e8f2775508f80b8c2"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a3eb45d0390a1b02e8f2775508f80b8c2">maxObstacleHeight_</a></td></tr>
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<tr class="memitem:a90c0f2017e99deaedc7304c254dc7b15" id="r_a90c0f2017e99deaedc7304c254dc7b15"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a90c0f2017e99deaedc7304c254dc7b15">normalKSearch_</a></td></tr>
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<tr class="memitem:a39d279264abc9d7ae098a92f70b27127" id="r_a39d279264abc9d7ae098a92f70b27127"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a39d279264abc9d7ae098a92f70b27127">groundNormalsUp_</a></td></tr>
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<tr class="memitem:a9272df02d497643ec4ead2e73bdda0df" id="r_a9272df02d497643ec4ead2e73bdda0df"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a9272df02d497643ec4ead2e73bdda0df">maxGroundAngle_</a></td></tr>
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<tr class="memitem:a7c50ddcc304a08e2380cb8caed74ec93" id="r_a7c50ddcc304a08e2380cb8caed74ec93"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a7c50ddcc304a08e2380cb8caed74ec93">clusterRadius_</a></td></tr>
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<tr class="memitem:a22d12d09e9abfd47399fee32427b982d" id="r_a22d12d09e9abfd47399fee32427b982d"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a22d12d09e9abfd47399fee32427b982d">minClusterSize_</a></td></tr>
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<tr class="memitem:a9abb685ccdec869aa6a2093b4a4940b9" id="r_a9abb685ccdec869aa6a2093b4a4940b9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a9abb685ccdec869aa6a2093b4a4940b9">flatObstaclesDetected_</a></td></tr>
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<tr class="memitem:a781973e17744a266ba40d7a95b1cab04" id="r_a781973e17744a266ba40d7a95b1cab04"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a781973e17744a266ba40d7a95b1cab04">minGroundHeight_</a></td></tr>
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<tr class="memitem:a9a05dd2ae8253e8472d8a8bf1fe79658" id="r_a9a05dd2ae8253e8472d8a8bf1fe79658"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a9a05dd2ae8253e8472d8a8bf1fe79658">normalsSegmentation_</a></td></tr>
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<tr class="memitem:a6f6bf8dec1e265d3acbde6610bbc8e04" id="r_a6f6bf8dec1e265d3acbde6610bbc8e04"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a6f6bf8dec1e265d3acbde6610bbc8e04">groundIsObstacle_</a></td></tr>
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<tr class="memitem:ab97f92371d2de2b1afea56868251d75c" id="r_ab97f92371d2de2b1afea56868251d75c"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ab97f92371d2de2b1afea56868251d75c">noiseFilteringRadius_</a></td></tr>
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<tr class="memitem:ad59c93ac4c1ca5a74e4fd87a647a7eb2" id="r_ad59c93ac4c1ca5a74e4fd87a647a7eb2"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ad59c93ac4c1ca5a74e4fd87a647a7eb2">rayTracing_</a></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>Builds per-node local occupancy grids from laser scans or depth clouds. </p>
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<p>Configured via <code>Grid/</code> parameters (<a class="el" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026">parseParameters()</a>). Used by <a class="el" href="classrtabmap_1_1Memory.html">Memory</a> to populate <a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> cells (ground / obstacles / empty) stored on <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> and cached in <a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> for global maps (<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>).</p>
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<p><b>Sensor source</b> (<code>Grid/Sensor</code>, <a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth()</a>):</p><ul>
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<li><code>0</code> — laser scan only</li>
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<li><code>1</code> — depth image(s) only (default)</li>
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<li><code>2</code> — laser scan and depth</li>
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</ul>
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<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>
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<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>
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<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>
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<dd>
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<a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00064">64</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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</div><h2 class="groupheader">Member Function Documentation</h2>
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<a id="a305865c8f98b498b13a35ef0b790f926" name="a305865c8f98b498b13a35ef0b790f926"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a305865c8f98b498b13a35ef0b790f926">◆ </a></span>getCellSize()</h2>
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<td class="memname">float rtabmap::LocalGridMaker::getCellSize </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<dl class="section return"><dt>Returns</dt><dd>Current <code>Grid/CellSize</code> (m). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00075">75</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a60f571f0fd1e58a1a82eb39bfeafda2a">◆ </a></span>isGridFromDepth()</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::isGridFromDepth </td>
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<td>(</td>
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<dl class="section return"><dt>Returns</dt><dd>True if occupancy is built from depth (<code>Grid/Sensor</code> is 1 or 2). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00077">77</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae8fcd8ed901bc23bac3f14efb48567a9">◆ </a></span>isMapFrameProjection()</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::isMapFrameProjection </td>
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<dl class="section return"><dt>Returns</dt><dd>True if <code>Grid/MapFrameProjection</code> is enabled. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00079">79</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad54b92f6d04b76a550483a7a68f45bda">◆ </a></span>segmentCloud()</h2>
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<td class="paramtype">const typename pcl::PointCloud< PointT >::Ptr & </td>
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<p>Segments a point cloud into ground and obstacle indices. </p>
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<p>Applies optional voxel filtering (<code>Grid/PreVoxelFiltering</code>, leaf size <code>Grid/CellSize</code>), footprint crop, height filtering, then either normal-based ground segmentation (<code>Grid/NormalsSegmentation</code>) or Z passthrough.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">cloud</td><td>Input cloud (sensor frame, transformed internally using <code>pose</code>). Must be non-null; an empty cloud is allowed and returns empty outputs. </td></tr>
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<tr><td class="paramname">indices</td><td>Subset of <code>cloud</code> to process (must be non-null; empty = all points when the cloud is dense). </td></tr>
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<tr><td class="paramname">pose</td><td>Node pose (used for map-frame projection and footprint). </td></tr>
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<tr><td class="paramname">viewPoint</td><td>Sensor origin for segmentation / ray tracing. </td></tr>
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<tr><td class="paramname">groundIndices</td><td>Output indices of ground points. </td></tr>
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<tr><td class="paramname">obstaclesIndices</td><td>Output indices of obstacle points. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Segmented cloud (voxel-downsampled when <code>Grid/PreVoxelFiltering</code> is true, using <code>Grid/CellSize</code>). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="LocalMapMaker_8hpp_source.html#l00038">38</a> of file <a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a97d17a585226dcffe580406736e00117">◆ </a></span>createLocalMap() <span class="overload">[1/2]</span></h2>
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<p>Creates a local grid from a <a class="el" href="classrtabmap_1_1Signature.html">Signature</a>'s laser scan or depth data. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">node</td><td><a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map's pose graph.">Signature</a> with sensor data (pose used for 3D scans). </td></tr>
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<tr><td class="paramname">groundCells</td><td>Output ground cells (<a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> format). </td></tr>
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<tr><td class="paramname">obstacleCells</td><td>Output obstacle cells. </td></tr>
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<tr><td class="paramname">emptyCells</td><td>Output empty/free cells. Behavior depends on the sensor path:<ul>
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<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>
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<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>
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<tr><td class="paramname">viewPoint</td><td>Output view point used for the grid. </td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a3d43b8e022d7638262282ab2c7da0ead">◆ </a></span>createLocalMap() <span class="overload">[2/2]</span></h2>
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<td class="memname">void rtabmap::LocalGridMaker::createLocalMap </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & </td>
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<td class="paramname"><em>cloud</em>, </td>
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<td class="paramname"><em>pose</em>, </td>
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<td class="paramtype">cv::Mat & </td>
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<p>Creates a local grid from a 3D (or organized) <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a>. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">cloud</td><td>Input scan in sensor frame. </td></tr>
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<tr><td class="paramname">pose</td><td>Node pose in map/odom frame. </td></tr>
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<tr><td class="paramname">emptyCells</td><td>Output empty/free cells. Filled when <code>Grid/RayTracing</code> is true: 3D via <a class="el" href="classrtabmap_1_1OctoMap.html">OctoMap</a> if <code>Grid/3D</code> and <a class="el" href="classrtabmap_1_1OctoMap.html">OctoMap</a> support are enabled (<code>Grid/RangeMax</code>, <code>Grid/CellSize</code>); otherwise 2D ray fill via <code>occupancy2DFromLaserScan</code> when <code>Grid/3D</code> is false (<code>Grid/RangeMax</code>, <code>Grid/CellSize</code>). </td></tr>
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<tr><td class="paramname">viewPointInOut</td><td>View point (may be rotated if <a class="el" href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9">isMapFrameProjection()</a>). </td></tr>
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<h2 class="groupheader">Member Data Documentation</h2>
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<td class="memname"><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> rtabmap::LocalGridMaker::parameters_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00152">152</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00154">154</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00155">155</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00156">156</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00157">157</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00158">158</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00159">159</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00160">160</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00161">161</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00162">162</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00164">164</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00165">165</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3eb45d0390a1b02e8f2775508f80b8c2">◆ </a></span>maxObstacleHeight_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00166">166</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00167">167</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00168">168</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9272df02d497643ec4ead2e73bdda0df">◆ </a></span>maxGroundAngle_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00169">169</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00170">170</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a22d12d09e9abfd47399fee32427b982d">◆ </a></span>minClusterSize_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00171">171</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9abb685ccdec869aa6a2093b4a4940b9">◆ </a></span>flatObstaclesDetected_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00172">172</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a781973e17744a266ba40d7a95b1cab04">◆ </a></span>minGroundHeight_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00173">173</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00174">174</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00175">175</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00176">176</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00177">177</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00178">178</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00179">179</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00180">180</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad59c93ac4c1ca5a74e4fd87a647a7eb2">◆ </a></span>rayTracing_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::rayTracing_</td>
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<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00181">181</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a></li>
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<li>corelib/include/rtabmap/core/impl/<a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a></li>
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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_1LocalGridMaker.html">LocalGridMaker</a></li>
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