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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef SRC_LOCALGRID_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define SRC_LOCALGRID_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;opencv2/core.hpp&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="foldopen" id="foldopen00061" data-start="{" data-end="};">
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html"> 61</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>{</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a"> 72</a></span> <a class="code hl_function" href="classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a">LocalGrid</a>(<span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint = cv::Point3f(0,0,0));</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1LocalGrid.html">~LocalGrid</a>() {}</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7"> 80</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7">is3D</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5"> 82</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">groundCells</a>; </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1"> 83</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1">obstacleCells</a>; </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b"> 84</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b">emptyCells</a>; </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5"> 85</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">cellSize</a>; </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb"> 86</a></span> cv::Point3f <a class="code hl_variable" href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">viewPoint</a>; </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>};</div>
</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="foldopen" id="foldopen00097" data-start="{" data-end="};">
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html"> 97</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span>{</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a>() {}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">~LocalGridCache</a>() {}</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b"> 104</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b">add</a>(<span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint = cv::Point3f(0,0,0));</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html#a765142f021aa580bcfdd84545ebc044f"> 112</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridCache.html#a765142f021aa580bcfdd84545ebc044f">add</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a> &amp; localGrid);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc"> 118</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc">shareTo</a>(<span class="keywordtype">int</span> nodeId, <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> &amp; anotherCache) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html#ab72a88b5c00d2a104ac1055538960acb"> 121</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridCache.html#ab72a88b5c00d2a104ac1055538960acb">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b">clear</a>(<span class="keywordtype">bool</span> temporaryOnly = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">size_t</span> size()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_.size();}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">bool</span> empty()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_.empty();}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> std::map&lt;int, LocalGrid&gt; &amp; localGrids()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_;}</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> std::map&lt;int, LocalGrid&gt;::const_iterator find(<span class="keywordtype">int</span> nodeId)<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_.find(nodeId);}</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> std::map&lt;int, LocalGrid&gt;::const_iterator begin()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_.begin();}</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> std::map&lt;int, LocalGrid&gt;::const_iterator end()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localGrids_.end();}</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> std::map&lt;int, LocalGrid&gt; localGrids_;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span>};</div>
</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="preprocessor">#endif </span><span class="comment">/* SRC_LOCALGRID_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><div class="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_a2e83e9c0c11051b5da84bf04b603a99b"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b">rtabmap::LocalGridCache::add</a></div><div class="ttdeci">void add(int nodeId, const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint=cv::Point3f(0, 0, 0))</div><div class="ttdoc">Inserts or replaces the grid for nodeId (from separate cell mats).</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_a4068440ef10859d05f252e36f916604b"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b">rtabmap::LocalGridCache::clear</a></div><div class="ttdeci">void clear(bool temporaryOnly=false)</div><div class="ttdoc">Removes cached grids.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_a6350523acd5ce71be45cd653071837fc"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc">rtabmap::LocalGridCache::shareTo</a></div><div class="ttdeci">bool shareTo(int nodeId, LocalGridCache &amp;anotherCache) const</div><div class="ttdoc">Copies a grid to anotherCache if present here and absent there.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_a765142f021aa580bcfdd84545ebc044f"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#a765142f021aa580bcfdd84545ebc044f">rtabmap::LocalGridCache::add</a></div><div class="ttdeci">void add(int nodeId, const LocalGrid &amp;localGrid)</div><div class="ttdoc">Inserts or replaces the grid for nodeId.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_ab72a88b5c00d2a104ac1055538960acb"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#ab72a88b5c00d2a104ac1055538960acb">rtabmap::LocalGridCache::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div><div class="ttdoc">Approximate memory used by cached grids (bytes).</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html">rtabmap::LocalGrid</a></div><div class="ttdoc">Local occupancy grid cells for one map node (ground, obstacles, empty).</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00061">LocalGrid.h:62</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_a13abf7a3ed9d8680ea339551401b62f5"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5">rtabmap::LocalGrid::cellSize</a></div><div class="ttdeci">float cellSize</div><div class="ttdoc">Cell size in meters.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00085">LocalGrid.h:85</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_a1d828782755374c7601810b35f99a9e5"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5">rtabmap::LocalGrid::groundCells</a></div><div class="ttdeci">cv::Mat groundCells</div><div class="ttdoc">Ground cells (1×N, CV_32FC2–CV_32FC7, see class doc).</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00082">LocalGrid.h:82</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_a42d930cf05d39ecbbd2e3678f8d0b47a"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a">rtabmap::LocalGrid::LocalGrid</a></div><div class="ttdeci">LocalGrid(const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint=cv::Point3f(0, 0, 0))</div><div class="ttdoc">Builds a local grid from cell matrices.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_a7d0a732be74bd5c46e9029982bf4972b"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b">rtabmap::LocalGrid::emptyCells</a></div><div class="ttdeci">cv::Mat emptyCells</div><div class="ttdoc">Empty/free cells (same layout as groundCells).</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00084">LocalGrid.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_aa8f5a6219144d584cde0fe6b565ac0bb"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb">rtabmap::LocalGrid::viewPoint</a></div><div class="ttdeci">cv::Point3f viewPoint</div><div class="ttdoc">View point used to build the grid.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00086">LocalGrid.h:86</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_abe290c60168557fb899914f53e4ad1a1"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1">rtabmap::LocalGrid::obstacleCells</a></div><div class="ttdeci">cv::Mat obstacleCells</div><div class="ttdoc">Obstacle cells (same layout as groundCells).</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00083">LocalGrid.h:83</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_af4bac3ac9ffd57653dee619b5be2b4f7"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7">rtabmap::LocalGrid::is3D</a></div><div class="ttdeci">bool is3D() const</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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