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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 
16 #include <mrpt/utils/CObserver.h>
17 
18 #include <mrpt/slam/link_pragmas.h>
19 
20 namespace 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:
37  COccupancyGridMapFeatureExtractor(); //!< Default ctor
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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