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35 const cv::Mat & obstaclesIn,
36 const cv::Mat & emptyIn,
38 const cv::Point3f & viewPointIn) :
39 groundCells(groundIn),
40 obstacleCells(obstaclesIn),
43 viewPoint(viewPointIn)
56 const cv::Mat & ground,
57 const cv::Mat & obstacles,
58 const cv::Mat &
empty,
60 const cv::Point3f & viewPoint)
67 UDEBUG(
"nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
71 UWARN(
"Cannot add nodes with negative id (nodeId=%d)", nodeId);
90 unsigned long memoryUsage = 0;
91 memoryUsage +=
localGrids_.size()*(
sizeof(
int) +
sizeof(
LocalGrid) +
sizeof(std::map<int, LocalGrid>::iterator)) +
sizeof(std::map<int, LocalGrid>);
94 memoryUsage +=
iter->second.groundCells.total() *
iter->second.groundCells.elemSize();
95 memoryUsage +=
iter->second.obstacleCells.total() *
iter->second.obstacleCells.elemSize();
96 memoryUsage +=
iter->second.emptyCells.total() *
iter->second.emptyCells.elemSize();
97 memoryUsage +=
sizeof(
int);
98 memoryUsage +=
sizeof(cv::Point3f);
unsigned long getMemoryUsed() const
bool shareTo(int nodeId, LocalGridCache &anotherCache) const
const std::map< int, LocalGrid > & localGrids() const
void uInsert(std::map< K, V > &map, const std::pair< K, V > &pair)
bool uContains(const std::list< V > &list, const V &value)
void clear(bool temporaryOnly=false)
#define UASSERT(condition)
void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
std::map< int, LocalGrid > localGrids_
ULogger class and convenient macros.
iterator iter(handle obj)
LocalGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
Wrappers of STL for convenient functions.
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11