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 34 of file COccupancyGridMapFeatureExtractor.h.

#include <mrpt/slam/COccupancyGridMapFeatureExtractor.h>

Inheritance diagram for mrpt::slam::COccupancyGridMapFeatureExtractor:

Public Member Functions
	COccupancyGridMapFeatureExtractor ()
	Default ctor. More...

	~COccupancyGridMapFeatureExtractor ()
	Destructor. More...

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 not erased!) into the given landmarks map. More...

void	observeBegin (CObservable &obj)
	Starts the subscription of this observer to the given object. More...

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. More...

Static Public Member Functions
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 not erased!) into the given landmarks map. More...

Protected Types
typedef std::map< const mrpt::maps::COccupancyGridMap2D *, mrpt::maps::CLandmarksMapPtr >	TCache

Protected Member Functions
void	OnEvent (const mrpt::utils::mrptEvent &e)
	This will receive the events from maps in order to purge the cache. More...

Protected Attributes
TCache	m_cache
	A cache of already computed maps. More...

Member Typedef Documentation

◆ TCache

typedef std::map<const mrpt::maps::COccupancyGridMap2D*,mrpt::maps::CLandmarksMapPtr> mrpt::slam::COccupancyGridMapFeatureExtractor::TCache

protected

Definition at line 70 of file COccupancyGridMapFeatureExtractor.h.

Constructor & Destructor Documentation

◆ COccupancyGridMapFeatureExtractor()

COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor ( )

Default ctor.

Definition at line 26 of file COccupancyGridMapFeatureExtractor.cpp.

◆ ~COccupancyGridMapFeatureExtractor()

COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor ( )

Destructor.

Definition at line 33 of file COccupancyGridMapFeatureExtractor.cpp.

Member Function Documentation

◆ extractFeatures()

void COccupancyGridMapFeatureExtractor::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 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

Definition at line 98 of file COccupancyGridMapFeatureExtractor.cpp.

References mrpt::maps::CLandmarksMap::Create().

◆ observeBegin()

void CObserver::observeBegin ( CObservable & obj )

inherited

Starts the subscription of this observer to the given object.

See also: observeEnd

Definition at line 30 of file CObserver.cpp.

Referenced by CGraphSlamHandler< GRAPH_T >::initVisualization().

◆ observeEnd()

void 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

Definition at line 38 of file CObserver.cpp.

◆ OnEvent()

void COccupancyGridMapFeatureExtractor::OnEvent ( const mrpt::utils::mrptEvent & e )

protectedvirtual

This will receive the events from maps in order to purge the cache.

Implements mrpt::utils::CObserver.

Definition at line 135 of file COccupancyGridMapFeatureExtractor.cpp.

References mrpt::utils::mrptEvent::isOfType().

◆ uncached_extractFeatures()

void COccupancyGridMapFeatureExtractor::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
	)

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

Definition at line 41 of file COccupancyGridMapFeatureExtractor.cpp.

Member Data Documentation

◆ m_cache

TCache mrpt::slam::COccupancyGridMapFeatureExtractor::m_cache

protected

A cache of already computed maps.

Definition at line 71 of file COccupancyGridMapFeatureExtractor.h.