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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Builds per-node local occupancy grids from laser scans or depth clouds.
<a href="classrtabmap_1_1LocalGridMaker.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>&gt;</code></p>
<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>
<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 <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>
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<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 <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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<tr class="memitem:a60f571f0fd1e58a1a82eb39bfeafda2a" id="r_a60f571f0fd1e58a1a82eb39bfeafda2a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth</a> () const</td></tr>
<tr class="separator:a60f571f0fd1e58a1a82eb39bfeafda2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae8fcd8ed901bc23bac3f14efb48567a9" id="r_ae8fcd8ed901bc23bac3f14efb48567a9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9">isMapFrameProjection</a> () const</td></tr>
<tr class="separator:ae8fcd8ed901bc23bac3f14efb48567a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad54b92f6d04b76a550483a7a68f45bda" id="r_ad54b92f6d04b76a550483a7a68f45bda"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:ad54b92f6d04b76a550483a7a68f45bda"><td class="memTemplItemLeft" align="right" valign="top">pcl::PointCloud&lt; PointT &gt;::Ptr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">segmentCloud</a> (const typename pcl::PointCloud&lt; PointT &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;pose, const cv::Point3f &amp;viewPoint, pcl::IndicesPtr &amp;groundIndices, pcl::IndicesPtr &amp;obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</td></tr>
<tr class="memdesc:ad54b92f6d04b76a550483a7a68f45bda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segments a point cloud into ground and obstacle indices. <br /></td></tr>
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<tr class="memitem:a97d17a585226dcffe580406736e00117" id="r_a97d17a585226dcffe580406736e00117"><td class="memItemLeft" align="right" valign="top">void&#160;</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> &amp;node, cv::Mat &amp;groundCells, cv::Mat &amp;obstacleCells, cv::Mat &amp;emptyCells, cv::Point3f &amp;viewPoint)</td></tr>
<tr class="memdesc:a97d17a585226dcffe580406736e00117"><td class="mdescLeft">&#160;</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="memitem:a3d43b8e022d7638262282ab2c7da0ead" id="r_a3d43b8e022d7638262282ab2c7da0ead"><td class="memItemLeft" align="right" valign="top">void&#160;</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> &amp;cloud, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;pose, cv::Mat &amp;groundCells, cv::Mat &amp;obstacleCells, cv::Mat &amp;emptyCells, cv::Point3f &amp;viewPointInOut) const</td></tr>
<tr class="memdesc:a3d43b8e022d7638262282ab2c7da0ead"><td class="mdescLeft">&#160;</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>
<tr class="separator:a3d43b8e022d7638262282ab2c7da0ead"><td class="memSeparator" colspan="2">&#160;</td></tr>
</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"><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>
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<tr class="memitem:aff5afdcd6d9e07f478d32a2bc11955fb" id="r_aff5afdcd6d9e07f478d32a2bc11955fb"><td class="memItemLeft" align="right" valign="top">float&#160;</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="memitem:ac5a445d88cd2f2b51efe2c8a356374de" id="r_ac5a445d88cd2f2b51efe2c8a356374de"><td class="memItemLeft" align="right" valign="top">float&#160;</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="memitem:aa104be5475d4953ff9bdf421ec7c59c0" id="r_aa104be5475d4953ff9bdf421ec7c59c0"><td class="memItemLeft" align="right" valign="top">std::vector&lt; float &gt;&#160;</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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#a98313607c7be29d93ff6f9a9b07b7603">footprintLength_</a></td></tr>
<tr class="separator:a98313607c7be29d93ff6f9a9b07b7603"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6954fbe877642dbd3baf870d0640f6a1" id="r_a6954fbe877642dbd3baf870d0640f6a1"><td class="memItemLeft" align="right" valign="top">float&#160;</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&#160;</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&#160;</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&#160;</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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html#abe29d5d2203812b9249e9e5860f0cba4">preVoxelFiltering_</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Builds per-node local occupancy grids from laser scans or depth clouds. </p>
<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>
<p><b>Sensor source</b> (<code>Grid/Sensor</code>, <a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth()</a>):</p><ul>
<li><code>0</code> — laser scan only</li>
<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 <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>
<a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> </dd></dl>
<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>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a305865c8f98b498b13a35ef0b790f926" name="a305865c8f98b498b13a35ef0b790f926"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a305865c8f98b498b13a35ef0b790f926">&#9670;&#160;</a></span>getCellSize()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Current <code>Grid/CellSize</code> (m). </dd></dl>
<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">&#9670;&#160;</a></span>isGridFromDepth()</h2>
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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>
<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">&#9670;&#160;</a></span>isMapFrameProjection()</h2>
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<dl class="section return"><dt>Returns</dt><dd>True if <code>Grid/MapFrameProjection</code> is enabled. </dd></dl>
<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">&#9670;&#160;</a></span>segmentCloud()</h2>
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<p>Segments a point cloud into ground and obstacle indices. </p>
<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>
<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>
<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>
<tr><td class="paramname">pose</td><td>Node pose (used for map-frame projection and footprint). </td></tr>
<tr><td class="paramname">viewPoint</td><td>Sensor origin for segmentation / ray tracing. </td></tr>
<tr><td class="paramname">groundIndices</td><td>Output indices of ground points. </td></tr>
<tr><td class="paramname">obstaclesIndices</td><td>Output indices of obstacle points. </td></tr>
<tr><td class="paramname">flatObstacles</td><td>Optional output for flat obstacle clusters. </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>
<p class="definition">Definition at line <a class="el" href="LocalMapMaker_8hpp_source.html#l00068">68</a> of file <a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a>.</p>
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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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<tr><td class="paramname">node</td><td><a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map&#39;s pose graph.">Signature</a> with sensor data (pose used for 3D scans). </td></tr>
<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 <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>
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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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<tr><td class="paramname">cloud</td><td>Input scan in sensor frame. </td></tr>
<tr><td class="paramname">pose</td><td>Node pose in map/odom frame. </td></tr>
<tr><td class="paramname">groundCells</td><td>Output ground cells. </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. 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>
<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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<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="#a1b5b85fc47fe3652c9d40c2d922e0208">&#9670;&#160;</a></span>cloudDecimation_</h2>
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<td class="memname">unsigned int rtabmap::LocalGridMaker::cloudDecimation_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#aff5afdcd6d9e07f478d32a2bc11955fb">&#9670;&#160;</a></span>rangeMax_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::rangeMax_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#ac5a445d88cd2f2b51efe2c8a356374de">&#9670;&#160;</a></span>rangeMin_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::rangeMin_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#aa104be5475d4953ff9bdf421ec7c59c0">&#9670;&#160;</a></span>roiRatios_</h2>
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<td class="memname">std::vector&lt;float&gt; rtabmap::LocalGridMaker::roiRatios_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a98313607c7be29d93ff6f9a9b07b7603">&#9670;&#160;</a></span>footprintLength_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::footprintLength_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a6954fbe877642dbd3baf870d0640f6a1">&#9670;&#160;</a></span>footprintWidth_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::footprintWidth_</td>
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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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<h2 class="memtitle"><span class="permalink"><a href="#a828e6b4da39194aa74138e7740273b62">&#9670;&#160;</a></span>footprintHeight_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::footprintHeight_</td>
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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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<a id="af37cc33403dd9cba1f3f6c2af88516a0" name="af37cc33403dd9cba1f3f6c2af88516a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af37cc33403dd9cba1f3f6c2af88516a0">&#9670;&#160;</a></span>scanDecimation_</h2>
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<td class="memname">int rtabmap::LocalGridMaker::scanDecimation_</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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<h2 class="memtitle"><span class="permalink"><a href="#a383971a4dc9bc24724e44fd37dd6d969">&#9670;&#160;</a></span>cellSize_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::cellSize_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00182">182</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="#abe29d5d2203812b9249e9e5860f0cba4">&#9670;&#160;</a></span>preVoxelFiltering_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::preVoxelFiltering_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00183">183</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="#a685e46e376a3a12bbdf220b7efd749f8">&#9670;&#160;</a></span>occupancySensor_</h2>
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<td class="memname">int rtabmap::LocalGridMaker::occupancySensor_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00184">184</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<a id="a3457df241a693487e29ed8781eff05c4" name="a3457df241a693487e29ed8781eff05c4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3457df241a693487e29ed8781eff05c4">&#9670;&#160;</a></span>projMapFrame_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::projMapFrame_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00185">185</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">&#9670;&#160;</a></span>maxObstacleHeight_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::maxObstacleHeight_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00186">186</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="#a90c0f2017e99deaedc7304c254dc7b15">&#9670;&#160;</a></span>normalKSearch_</h2>
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<td class="memname">int rtabmap::LocalGridMaker::normalKSearch_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00187">187</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="#a39d279264abc9d7ae098a92f70b27127">&#9670;&#160;</a></span>groundNormalsUp_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::groundNormalsUp_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00188">188</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">&#9670;&#160;</a></span>maxGroundAngle_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::maxGroundAngle_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00189">189</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="#a7c50ddcc304a08e2380cb8caed74ec93">&#9670;&#160;</a></span>clusterRadius_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::clusterRadius_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00190">190</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">&#9670;&#160;</a></span>minClusterSize_</h2>
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<td class="memname">int rtabmap::LocalGridMaker::minClusterSize_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00191">191</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">&#9670;&#160;</a></span>flatObstaclesDetected_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::flatObstaclesDetected_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00192">192</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">&#9670;&#160;</a></span>minGroundHeight_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::minGroundHeight_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00193">193</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="#aafc8b327a17224583513a7e8e0893b9c">&#9670;&#160;</a></span>maxGroundHeight_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::maxGroundHeight_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00194">194</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="#a9a05dd2ae8253e8472d8a8bf1fe79658">&#9670;&#160;</a></span>normalsSegmentation_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::normalsSegmentation_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00195">195</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="#aa8e6a5beb040c11a4f4574359419c4a7">&#9670;&#160;</a></span>grid3D_</h2>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00196">196</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="#a6f6bf8dec1e265d3acbde6610bbc8e04">&#9670;&#160;</a></span>groundIsObstacle_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::groundIsObstacle_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00197">197</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="#ab97f92371d2de2b1afea56868251d75c">&#9670;&#160;</a></span>noiseFilteringRadius_</h2>
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<td class="memname">float rtabmap::LocalGridMaker::noiseFilteringRadius_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00198">198</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="#a83712e0822bc4250c6116b05a437d5a2">&#9670;&#160;</a></span>noiseFilteringMinNeighbors_</h2>
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<td class="memname">int rtabmap::LocalGridMaker::noiseFilteringMinNeighbors_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00199">199</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="#a4cf44341f8a24a7ddacd21d5f8c41379">&#9670;&#160;</a></span>scan2dUnknownSpaceFilled_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::scan2dUnknownSpaceFilled_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00200">200</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">&#9670;&#160;</a></span>rayTracing_</h2>
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<td class="memname">bool rtabmap::LocalGridMaker::rayTracing_</td>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00201">201</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>
<li>corelib/include/rtabmap/core/<a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a></li>
<li>corelib/include/rtabmap/core/impl/<a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a></li>
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