28 #ifndef CORELIB_SRC_OCCUPANCYGRID_H_
29 #define CORELIB_SRC_OCCUPANCYGRID_H_
31 #include "rtabmap/core/rtabmap_core_export.h"
35 #include <pcl/point_cloud.h>
36 #include <pcl/point_types.h>
44 void setMap(
const cv::Mat & map,
float xMin,
float yMin,
float cellSize,
const std::map<int, Transform> & poses);
49 cv::Mat getMap(
float & xMin,
float & yMin)
const;
50 cv::Mat getProbMap(
float & xMin,
float & yMin)
const;
52 unsigned long getMemoryUsed()
const;
55 virtual void assemble(
const std::list<std::pair<int, Transform> > & newPoses);