28 #ifndef CORELIB_SRC_CLOUDMAP_H_
29 #define CORELIB_SRC_CLOUDMAP_H_
31 #include "rtabmap/core/rtabmap_core_export.h"
35 #include <pcl/point_cloud.h>
36 #include <pcl/point_types.h>
47 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &
getMapGround()
const {
return assembledGround_;}
48 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &
getMapObstacles()
const {
return assembledObstacles_;}
49 const pcl::PointCloud<pcl::PointXYZ>::Ptr &
getMapEmptyCells()
const {
return assembledEmptyCells_;}
51 unsigned long getMemoryUsed()
const;
54 virtual void assemble(
const std::list<std::pair<int, Transform> > & newPoses);