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<div class="title">mrpt::slam::COccupancyGridMapFeatureExtractor Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::COccupancyGridMapFeatureExtractor" --><!-- doxytag: inherits="mrpt::utils::CObserver" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class for detecting features from occupancy grid maps. </p>
<p>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).</p>
<p>For an uncached version (which is a static method that can be called without instantiating <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html" title="A class for detecting features from occupancy grid maps.">COccupancyGridMapFeatureExtractor</a>) see <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a72b18bc27f10befdbb780428901f8f83" title="Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is n...">COccupancyGridMapFeatureExtractor::uncached_extractFeatures()</a> </p>
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<p><code>#include <<a class="el" href="_c_occupancy_grid_map_feature_extractor_8h_source.html">mrpt/slam/COccupancyGridMapFeatureExtractor.h</a>></code></p>
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Inheritance diagram for mrpt::slam::COccupancyGridMapFeatureExtractor:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor_inherit__map" id="mrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_observer.html" title="Inherit from this class to get notified about events from any CObservable object after subscribing to..." alt="" coords="87,5,237,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#ae0242eb56423bb2c74a9f70adfbac986">COccupancyGridMapFeatureExtractor</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default ctor. <a href="#ae0242eb56423bb2c74a9f70adfbac986"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a1bd4641de63545db3aba0928b274bbd1">~COccupancyGridMapFeatureExtractor</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a1bd4641de63545db3aba0928b274bbd1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#aec675ce9d5a296042a9ea622d3dc672c">extractFeatures</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a> &grid, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> &outMap, const size_t number_of_features, const <a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> descriptors, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> &feat_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map. <a href="#aec675ce9d5a296042a9ea622d3dc672c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_observer.html#aedaffad1d99185258e2caac8b6cc50df">observeBegin</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_observable.html">CObservable</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Starts the subscription of this observer to the given object. <a href="#aedaffad1d99185258e2caac8b6cc50df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_observer.html#abb6f34eb0b20b27d937c00d2010e53e0">observeEnd</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_observable.html">CObservable</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#abb6f34eb0b20b27d937c00d2010e53e0"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a72b18bc27f10befdbb780428901f8f83">uncached_extractFeatures</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a> &grid, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> &outMap, const size_t number_of_features, const <a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> descriptors, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> &feat_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map. <a href="#a72b18bc27f10befdbb780428901f8f83"></a><br/></td></tr>
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Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< const <br class="typebreak"/>
<a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a> <br class="typebreak"/>
*, <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">mrpt::slam::CLandmarksMapPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#aa2c0d6b54c875bf3ef2d93843ae0c606">TCache</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a6832a14731dd06a3693108e0867dfe3b">OnEvent</a> (const <a class="el" href="classmrpt_1_1utils_1_1mrpt_event.html">mrptEvent</a> &e)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This will receive the events from maps in order to purge the cache. <a href="#a6832a14731dd06a3693108e0867dfe3b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#aa2c0d6b54c875bf3ef2d93843ae0c606">TCache</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a5b5fb047a2fe14b1a60661f94c75716d">m_cache</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cache of already computed maps. <a href="#a5b5fb047a2fe14b1a60661f94c75716d"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="aa2c0d6b54c875bf3ef2d93843ae0c606"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::TCache" ref="aa2c0d6b54c875bf3ef2d93843ae0c606" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1map.html">std::map</a><const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a>*,<a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">mrpt::slam::CLandmarksMapPtr</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#aa2c0d6b54c875bf3ef2d93843ae0c606">mrpt::slam::COccupancyGridMapFeatureExtractor::TCache</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_occupancy_grid_map_feature_extractor_8h_source.html#l00091">91</a> of file <a class="el" href="_c_occupancy_grid_map_feature_extractor_8h_source.html">COccupancyGridMapFeatureExtractor.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae0242eb56423bb2c74a9f70adfbac986"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor" ref="ae0242eb56423bb2c74a9f70adfbac986" args="()" -->
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<td class="memname">mrpt::slam::COccupancyGridMapFeatureExtractor::COccupancyGridMapFeatureExtractor </td>
<td>(</td>
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<p>Default ctor. </p>
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<a class="anchor" id="a1bd4641de63545db3aba0928b274bbd1"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor" ref="a1bd4641de63545db3aba0928b274bbd1" args="()" -->
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<td class="memname">mrpt::slam::COccupancyGridMapFeatureExtractor::~COccupancyGridMapFeatureExtractor </td>
<td>(</td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aec675ce9d5a296042a9ea622d3dc672c"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::extractFeatures" ref="aec675ce9d5a296042a9ea622d3dc672c" args="(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)" -->
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<td class="memname">void mrpt::slam::COccupancyGridMapFeatureExtractor::extractFeatures </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a> & </td>
<td class="paramname"><em>grid</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> & </td>
<td class="paramname"><em>outMap</em>, </td>
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<td class="paramtype">const size_t </td>
<td class="paramname"><em>number_of_features</em>, </td>
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<td class="paramtype">const <a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> </td>
<td class="paramname"><em>descriptors</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> & </td>
<td class="paramname"><em>feat_options</em> </td>
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<p>Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map. </p>
<p>Landmarks type can be any declared in <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html" title="The set of parameters for all the detectors & descriptor algorithms.">mrpt::vision::CFeatureExtraction::TOptions</a></p>
<dl class="note"><dt><b>Note:</b></dt><dd>See the paper "..." </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a72b18bc27f10befdbb780428901f8f83" title="Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is n...">uncached_extractFeatures</a> </dd></dl>
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<a class="anchor" id="aedaffad1d99185258e2caac8b6cc50df"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::observeBegin" ref="aedaffad1d99185258e2caac8b6cc50df" args="(CObservable &obj)" -->
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<td class="memname">void mrpt::utils::CObserver::observeBegin </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_observable.html">CObservable</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Starts the subscription of this observer to the given object. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_observer.html#abb6f34eb0b20b27d937c00d2010e53e0" title="Ends the subscription of this observer to the given object (note that there is no need to call this m...">observeEnd</a> </dd></dl>
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<a class="anchor" id="abb6f34eb0b20b27d937c00d2010e53e0"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::observeEnd" ref="abb6f34eb0b20b27d937c00d2010e53e0" args="(CObservable &obj)" -->
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<td class="memname">void mrpt::utils::CObserver::observeEnd </td>
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<p>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. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_observer.html#aedaffad1d99185258e2caac8b6cc50df" title="Starts the subscription of this observer to the given object.">observeBegin</a> </dd></dl>
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<a class="anchor" id="a6832a14731dd06a3693108e0867dfe3b"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::OnEvent" ref="a6832a14731dd06a3693108e0867dfe3b" args="(const mrptEvent &e)" -->
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<td class="memname">void mrpt::slam::COccupancyGridMapFeatureExtractor::OnEvent </td>
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<p>This will receive the events from maps in order to purge the cache. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_observer.html#ac2d5773bafc7abe5e31aa16ccb7e665c">mrpt::utils::CObserver</a>.</p>
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<a class="anchor" id="a72b18bc27f10befdbb780428901f8f83"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures" ref="a72b18bc27f10befdbb780428901f8f83" args="(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)" -->
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<td class="memname">static void mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a> & </td>
<td class="paramname"><em>grid</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> & </td>
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<td class="paramtype">const size_t </td>
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<td class="paramtype">const <a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> </td>
<td class="paramname"><em>descriptors</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> & </td>
<td class="paramname"><em>feat_options</em> </td>
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<p>Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is not erased!) into the given landmarks map. </p>
<p>Landmarks type can be any declared in <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html" title="The set of parameters for all the detectors & descriptor algorithms.">mrpt::vision::CFeatureExtraction::TOptions</a></p>
<dl class="note"><dt><b>Note:</b></dt><dd>See the paper "..." </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a72b18bc27f10befdbb780428901f8f83" title="Computes a set of distinctive landmarks from an occupancy grid, and store them (previous content is n...">uncached_extractFeatures</a> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a5b5fb047a2fe14b1a60661f94c75716d"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMapFeatureExtractor::m_cache" ref="a5b5fb047a2fe14b1a60661f94c75716d" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#aa2c0d6b54c875bf3ef2d93843ae0c606">TCache</a> <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html#a5b5fb047a2fe14b1a60661f94c75716d">mrpt::slam::COccupancyGridMapFeatureExtractor::m_cache</a><code> [protected]</code></td>
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<p>A cache of already computed maps. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map_feature_extractor_8h_source.html#l00092">92</a> of file <a class="el" href="_c_occupancy_grid_map_feature_extractor_8h_source.html">COccupancyGridMapFeatureExtractor.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
