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COccupancyGridMapFeatureExtractor.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef COccupancyGridMapFeatureExtractor_H
10#define COccupancyGridMapFeatureExtractor_H
11
15
17
19
20namespace mrpt
21{
22 namespace slam
23 {
24 /** A class for detecting features from occupancy grid maps.
25 * The main method is "COccupancyGridMapFeatureExtractor::extractFeatures()", which makes use
26 * of an advanced cache mechanism to avoid redoing work when applied several times on the same
27 * occupancy grid maps (unless they changed in the meanwhile).
28 *
29 * For an uncached version (which is a static method that can be called without instantiating COccupancyGridMapFeatureExtractor)
30 * see COccupancyGridMapFeatureExtractor::uncached_extractFeatures()
31 *
32 * \ingroup mrpt_slam_grp
33 */
35 {
36 public:
39
40 /** Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map.
41 * Landmarks type can be any declared in mrpt::vision::CFeatureExtraction::TOptions
42 *
43 * \note See the paper "..."
44 * \sa uncached_extractFeatures
45 */
49 const size_t number_of_features,
50 const mrpt::vision::TDescriptorType descriptors,
52 );
53
54 /** Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map.
55 * Landmarks type can be any declared in mrpt::vision::CFeatureExtraction::TOptions
56 *
57 * \note See the paper "..."
58 * \sa uncached_extractFeatures
59 */
63 const size_t number_of_features,
64 const mrpt::vision::TDescriptorType descriptors,
66 );
67
68 protected:
69 void OnEvent(const mrpt::utils::mrptEvent &e); //!< This will receive the events from maps in order to purge the cache.
70 typedef std::map<const mrpt::maps::COccupancyGridMap2D*,mrpt::maps::CLandmarksMapPtr> TCache;
71 TCache m_cache; //!< A cache of already computed maps.
72
73
74 }; // End of class def.
75
76 } // End of namespace
77} // End of namespace
78
79#endif
A class for storing a map of 3D probabilistic landmarks.
A class for storing an occupancy grid map.
A class for detecting features from occupancy grid maps.
static void uncached_extractFeatures(const mrpt::maps::COccupancyGridMap2D &grid, mrpt::maps::CLandmarksMap &outMap, const size_t number_of_features, const mrpt::vision::TDescriptorType descriptors, const mrpt::vision::CFeatureExtraction::TOptions &feat_options)
Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is n...
void extractFeatures(const mrpt::maps::COccupancyGridMap2D &grid, mrpt::maps::CLandmarksMap &outMap, const size_t number_of_features, const mrpt::vision::TDescriptorType descriptors, const mrpt::vision::CFeatureExtraction::TOptions &feat_options)
Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is n...
void OnEvent(const mrpt::utils::mrptEvent &e)
This will receive the events from maps in order to purge the cache.
std::map< const mrpt::maps::COccupancyGridMap2D *, mrpt::maps::CLandmarksMapPtr > TCache
Inherit from this class to get notified about events from any CObservable object after subscribing to...
Definition: CObserver.h:35
The basic event type for the observer-observable pattern in MRPT.
Definition: mrptEvent.h:35
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The set of parameters for all the detectors & descriptor algorithms.



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