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21 void COccupancyGridMapFeatureExtractor::uncached_extractFeatures(
48 for (
auto& ft : lstFeatures)
51 lm.
ID = ft.keypoint.ID;
73 "__DEBUG_DUMP_GRIDMAP_ON_EXCEPTION");
80 void COccupancyGridMapFeatureExtractor::extractFeatures(
88 uncached_extractFeatures(grid,outMap,number_of_features,descriptors,feat_options);
92 auto it = m_cache.find(&grid);
93 if (it == m_cache.end())
98 uncached_extractFeatures(
99 grid, *theMap, number_of_features, descriptors, feat_options);
104 m_cache[&grid] = theMap;
109 outMap = *(it->second);
116 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.
Event emitted by a metric up upon call of clear()
uint32_t seenTimesCount
The number of times that this landmark has been seen.
#define MRPT_END_WITH_CLEAN_UP(stuff)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
A list of visual features, to be used as output by detectors, as input/output by trackers,...
std::shared_ptr< mrpt::maps ::CLandmarksMap > Ptr
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
std::vector< mrpt::vision::CFeature > features
The set of features from which the landmark comes.
void push_back(const CLandmark &lm)
The object is copied, thus the original copy passed as a parameter can be released.
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...
return_t square(const num_t x)
Inline function for the square of a number.
mrpt::math::TPoint3D pose_mean
The mean of the landmark 3D position.
A class for storing images as grayscale or RGB bitmaps.
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
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()
@ descAny
Used in some methods to mean "any of the present descriptors".
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