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21 void COccupancyGridMapFeatureExtractor::uncached_extractFeatures(
49 it != lstFeatures.
end(); ++it)
74 "__DEBUG_DUMP_GRIDMAP_ON_EXCEPTION");
81 void COccupancyGridMapFeatureExtractor::extractFeatures(
89 uncached_extractFeatures(grid,outMap,number_of_features,descriptors,feat_options);
94 if (it == m_cache.end())
99 uncached_extractFeatures(
100 grid, *theMap, number_of_features, descriptors, feat_options);
105 m_cache[&grid] = theMap;
110 outMap = *(it->second);
117 void COccupancyGridMapFeatureExtractor::OnEvent(
const mrptEvent& e)
TLandmarkID ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
The basic event type for the observer-observable pattern in MRPT.
const Scalar * const_iterator
Event emitted by a metric up upon call of clear()
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
uint32_t seenTimesCount
The number of times that this landmark has been seen.
#define MRPT_END_WITH_CLEAN_UP(stuff)
std::shared_ptr< CLandmarksMap > Ptr
TInternalFeatList::iterator iterator
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< mrpt::vision::CFeature::Ptr > features
The set of features from which the landmark comes.
T square(const T x)
Inline function for the square of a number.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
@ descAny
Used in some methods to mean "any of the present descriptors".
A list of visual features, to be used as output by detectors, as input/output by trackers,...
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
void push_back(const CLandmark &lm)
The object is copied, thus the original copy passed as a parameter can be released.
double x
X,Y,Z coordinates.
struct mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks landmarks
void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const override
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >,...
float getYMin() const
Returns the "y" coordinate of top side of grid map.
const mrpt::maps::CMetricMap * source_map
An event sent by any CObservable object (automatically) just before being destroyed and telling its o...
mrpt::math::TPoint3D pose_mean
The mean of the landmark 3D position.
A class for storing images as grayscale or RGB bitmaps.
float getResolution() const
Returns the resolution of the grid map.
float getXMin() const
Returns the "x" coordinate of left side of grid map.
A class for storing an occupancy grid map.
A class for storing a map of 3D probabilistic landmarks.
void getAsImageFiltered(img::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if ...
Event emitted by a metric up upon a succesful call to insertObservation()
This namespace provides a OS-independent interface to many useful functions: filenames manipulation,...
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