mrpt::slam::COccupancyGridMapFeatureExtractor Class Reference

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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()

#include <mrpt/slam/COccupancyGridMapFeatureExtractor.h>

Inheritance diagram for mrpt::slam::COccupancyGridMapFeatureExtractor:

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.
void	observeBegin (CObservable &obj)
	Starts the subscription of this observer to the given object.
void	observeEnd (CObservable &obj)
	Ends the subscription of this observer to the given object (note that there is no need to call this method, since the destruction of the first of observer/observed will put an end to the process.
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.

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Member Typedef Documentation

typedef std::map<const mrpt::slam::COccupancyGridMap2D*,mrpt::slam::CLandmarksMapPtr> mrpt::slam::COccupancyGridMapFeatureExtractor::TCache [protected]

Definition at line 91 of file COccupancyGridMapFeatureExtractor.h.

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Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor

(

)

Default ctor.

mrpt::slam::COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor

(

)

Destructor.

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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::utils::CObserver::observeBegin

(

CObservable &

obj

)

[inherited]

Starts the subscription of this observer to the given object.

See also:

observeEnd

void mrpt::utils::CObserver::observeEnd

(

CObservable &

obj

)

[inherited]

Ends the subscription of this observer to the given object (note that there is no need to call this method, since the destruction of the first of observer/observed will put an end to the process.

See also:

observeBegin

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

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Member Data Documentation

TCache mrpt::slam::COccupancyGridMapFeatureExtractor::m_cache [protected]

A cache of already computed maps.

Definition at line 92 of file COccupancyGridMapFeatureExtractor.h.