rtabmap::CloudMap Class Reference

Inheritance diagram for rtabmap::CloudMap:

Collaboration diagram for rtabmap::CloudMap:

Public Member Functions
	CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
virtual void	clear ()
	Clears assembled nodes and grid bounds; does not clear LocalGridCache.
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapGround () const
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapObstacles () const
const pcl::PointCloud< pcl::PointXYZ >::Ptr &	getMapEmptyCells () const
unsigned long	getMemoryUsed () const
	Approximate memory used by assembled-node bookkeeping (bytes).
Public Member Functions inherited from rtabmap::GlobalMap
bool	fullUpdateNeeded (const std::map< int, Transform > &poses) const
	True if the map should be rebuilt from cache (loop closure or disjoint graph).
bool	update (const std::map< int, Transform > &poses)
	Incrementally assemble new nodes from poses.
float	getCellSize () const
float	getUpdateError () const
const std::map< int, Transform > &	addedNodes () const
void	getGridMin (double &x, double &y) const
	2D grid minimum (x, y) in meters.
void	getGridMax (double &x, double &y) const
	2D grid maximum (x, y) in meters.
void	getGridMin (double &x, double &y, double &z) const
	3D grid minimum (x, y, z) in meters.
void	getGridMax (double &x, double &y, double &z) const
	3D grid maximum (x, y, z) in meters.

Protected Member Functions
virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)
	Subclass hook: merge newPoses into the global map; call addAssembledNode().
Protected Member Functions inherited from rtabmap::GlobalMap
	GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
	Constructs the base map; subclasses call from their constructor.
const std::map< int, LocalGrid > &	cache () const
const std::map< int, Transform > &	assembledNodes () const
bool	isNodeAssembled (int id)
void	addAssembledNode (int id, const Transform &pose)
	Records a successfully assembled node (ids <= 0 are ignored).

Additional Inherited Members
Static Public Member Functions inherited from rtabmap::GlobalMap
static float	logodds (double probability)
	Converts probability in (0, 1) to log-odds.
static double	probability (double logodds)
	Converts log-odds back to probability in (0, 1).
Protected Attributes inherited from rtabmap::GlobalMap
float	cellSize_
float	updateError_
float	occupancyThr_
float	logOddsHit_
float	logOddsMiss_
float	logOddsClampingMin_
float	logOddsClampingMax_
double	minValues_ [3]
double	maxValues_ [3]

Detailed Description

Definition at line 40 of file CloudMap.h.

Member Function Documentation

clear()

virtual void rtabmap::CloudMap::clear ( )

virtual

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

Reimplemented from rtabmap::GlobalMap.

getMapGround()

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & rtabmap::CloudMap::getMapGround ( ) const

inline

Definition at line 47 of file CloudMap.h.

getMapObstacles()

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & rtabmap::CloudMap::getMapObstacles ( ) const

inline

Definition at line 48 of file CloudMap.h.

getMapEmptyCells()

const pcl::PointCloud< pcl::PointXYZ >::Ptr & rtabmap::CloudMap::getMapEmptyCells ( ) const

inline

Definition at line 49 of file CloudMap.h.

getMemoryUsed()

unsigned long rtabmap::CloudMap::getMemoryUsed ( ) const

virtual

Approximate memory used by assembled-node bookkeeping (bytes).

Reimplemented from rtabmap::GlobalMap.

assemble()

virtual void rtabmap::CloudMap::assemble ( const std::list< std::pair< int, Transform > > &  newPoses )

protectedvirtual

Subclass hook: merge newPoses into the global map; call addAssembledNode().

Implements rtabmap::GlobalMap.

---

The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/global_map/CloudMap.h