28 #ifndef SRC_LOCALGRID_H_
29 #define SRC_LOCALGRID_H_
31 #include "rtabmap/core/rtabmap_core_export.h"
33 #include <opencv2/core.hpp>
42 const cv::Mat & obstacles,
43 const cv::Mat &
empty,
45 const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
63 const cv::Mat & ground,
64 const cv::Mat & obstacles,
65 const cv::Mat &
empty,
67 const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
73 unsigned long getMemoryUsed()
const;
74 void clear(
bool temporaryOnly =
false);
76 size_t size()
const {
return localGrids_.size();}
77 bool empty()
const {
return localGrids_.empty();}
78 const std::map<int, LocalGrid> &
localGrids()
const {
return localGrids_;}
80 std::map<int, LocalGrid>::const_iterator
find(
int nodeId)
const {
return localGrids_.find(nodeId);}
81 std::map<int, LocalGrid>::const_iterator
begin()
const {
return localGrids_.begin();}
82 std::map<int, LocalGrid>::const_iterator
end()
const {
return localGrids_.end();}