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mrpt::slam::COccupancyGridMapFeatureExtractor Class Reference


Detailed Description

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>

Inheritance diagram for mrpt::slam::COccupancyGridMapFeatureExtractor:
Inheritance graph
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List of all members.

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.

Member Typedef Documentation

Definition at line 90 of file COccupancyGridMapFeatureExtractor.h.


Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor (  ) 

Default ctor.

mrpt::slam::COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor (  ) 

Destructor.


Member Function Documentation

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

Note:
See the paper "..."
See also:
uncached_extractFeatures
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

Note:
See the paper "..."
See also:
uncached_extractFeatures

Member Data Documentation

A cache of already computed maps.

Definition at line 91 of file COccupancyGridMapFeatureExtractor.h.




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