A class for detecting features from occupancy grid maps.
The main method is "COccupancyGridMapFeatureExtractor::extractFeatures()", which makes use of an advanced cache mechanism to avoid redoing work when applied several times on the same occupancy grid maps (unless they changed in the meanwhile).
For an uncached version (which is a static method that can be called without instantiating COccupancyGridMapFeatureExtractor) see COccupancyGridMapFeatureExtractor::uncached_extractFeatures()
Definition at line 54 of file COccupancyGridMapFeatureExtractor.h.
#include <mrpt/slam/COccupancyGridMapFeatureExtractor.h>
Public Member Functions | |
COccupancyGridMapFeatureExtractor () | |
Default ctor. | |
~COccupancyGridMapFeatureExtractor () | |
Destructor. | |
void | extractFeatures (const mrpt::slam::COccupancyGridMap2D &grid, mrpt::slam::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 not erased!) into the given landmarks map. | |
Static Public Member Functions | |
static void | uncached_extractFeatures (const mrpt::slam::COccupancyGridMap2D &grid, mrpt::slam::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 not erased!) into the given landmarks map. | |
Protected Types | |
typedef std::map< const mrpt::slam::COccupancyGridMap2D *, mrpt::slam::CLandmarksMapPtr > | TCache |
Protected Member Functions | |
void | OnEvent (const mrptEvent &e) |
This will receive the events from maps in order to purge the cache. | |
Protected Attributes | |
TCache | m_cache |
A cache of already computed maps. |
typedef std::map<const mrpt::slam::COccupancyGridMap2D*,mrpt::slam::CLandmarksMapPtr> mrpt::slam::COccupancyGridMapFeatureExtractor::TCache [protected] |
Definition at line 90 of file COccupancyGridMapFeatureExtractor.h.
mrpt::slam::COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor | ( | ) |
Default ctor.
mrpt::slam::COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor | ( | ) |
Destructor.
void mrpt::slam::COccupancyGridMapFeatureExtractor::extractFeatures | ( | const mrpt::slam::COccupancyGridMap2D & | grid, |
mrpt::slam::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 not erased!) into the given landmarks map.
Landmarks type can be any declared in mrpt::vision::CFeatureExtraction::TOptions
void mrpt::slam::COccupancyGridMapFeatureExtractor::OnEvent | ( | const mrptEvent & | e ) | [protected, virtual] |
This will receive the events from maps in order to purge the cache.
Implements mrpt::utils::CObserver.
static void mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures | ( | const mrpt::slam::COccupancyGridMap2D & | grid, |
mrpt::slam::CLandmarksMap & | outMap, | ||
const size_t | number_of_features, | ||
const mrpt::vision::TDescriptorType | descriptors, | ||
const mrpt::vision::CFeatureExtraction::TOptions & | feat_options | ||
) | [static] |
Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map.
Landmarks type can be any declared in mrpt::vision::CFeatureExtraction::TOptions
A cache of already computed maps.
Definition at line 91 of file COccupancyGridMapFeatureExtractor.h.
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