class mrpt::slam::COccupancyGridMapFeatureExtractor

Overview

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>

class COccupancyGridMapFeatureExtractor: public mrpt::system::CObserver
{
public:
    // methods

    void extractFeatures(
        const mrpt::maps::COccupancyGridMap2D& grid,
        mrpt::maps::CLandmarksMap& outMap,
        size_t number_of_features,
        const mrpt::vision::TDescriptorType descriptors,
        const mrpt::vision::CFeatureExtraction::TOptions& feat_options
        );

    static void uncached_extractFeatures(
        const mrpt::maps::COccupancyGridMap2D& grid,
        mrpt::maps::CLandmarksMap& outMap,
        size_t number_of_features,
        const mrpt::vision::TDescriptorType descriptors,
        const mrpt::vision::CFeatureExtraction::TOptions& feat_options
        );
};

Inherited Members

public:
    // methods

    void observeBegin(CObservable& obj);
    void observeEnd(CObservable& obj);

Methods

void extractFeatures(
    const mrpt::maps::COccupancyGridMap2D& grid,
    mrpt::maps::CLandmarksMap& outMap,
    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

See the paper “…”

See also:

uncached_extractFeatures

static void uncached_extractFeatures(
    const mrpt::maps::COccupancyGridMap2D& grid,
    mrpt::maps::CLandmarksMap& outMap,
    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

See the paper “…”