COccupancyGridMapFeatureExtractor.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef COccupancyGridMapFeatureExtractor_H
#define COccupancyGridMapFeatureExtractor_H

#include <mrpt/slam/COccupancyGridMap2D.h>
#include <mrpt/slam/CLandmarksMap.h>
#include <mrpt/vision/CFeatureExtraction.h>

#include <mrpt/utils/CObserver.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                using namespace mrpt::math;

                /**  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()
                  *
                  * \ingroup mrpt_slam_grp
                  */
                class SLAM_IMPEXP COccupancyGridMapFeatureExtractor : public mrpt::utils::CObserver
                {
                public:
                        COccupancyGridMapFeatureExtractor(); //!< Default ctor
                        ~COccupancyGridMapFeatureExtractor(); //!< Destructor

                        /** 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 "..."
                          * \sa uncached_extractFeatures
                          */
                        void extractFeatures(
                                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
                                );

                        /** 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 "..."
                          * \sa uncached_extractFeatures
                          */
                        static void uncached_extractFeatures(
                                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
                                );

                protected:
                        void OnEvent(const mrptEvent &e); //!< This will receive the events from maps in order to purge the cache.
                        typedef std::map<const mrpt::slam::COccupancyGridMap2D*,mrpt::slam::CLandmarksMapPtr> TCache;
                        TCache m_cache; //!< A cache of already computed maps.


                }; // End of class def.

        } // End of namespace
} // End of namespace

#endif