Template Class WeightedOccupancyGrid¶
Defined in File occupancy-grid.h
Class Documentation¶
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template<typename PointType = WeightedKeypoint<double, double, int>>
class aslam::common::WeightedOccupancyGrid¶ Constructors/destructors and operators
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WeightedOccupancyGrid(CoordinatesType max_input_coordinate_rows, CoordinatesType max_input_coordinate_cols, CoordinatesType cell_size_rows, CoordinatesType cell_size_cols)¶
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void reset()¶
Methods to add points to the grid.
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bool addPointOrReplaceWeakestIfCellFull(const PointType &point, size_t max_points_per_cell)¶
Add a point to the grid and replace other points in the same cell if the cell is full and this point has a higher score.
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void addPointOrReplaceWeakestNearestPoints(const PointType &point, CoordinatesType min_distance)¶
Add point to the grid and replace other points if they are closer than the specified min.
distance and this point has a higher score.
Methods to query the grid.
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size_t getNumPoints() const¶
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inline PointList &getGridCell(CoordinatesType u_rows, CoordinatesType v_cols)¶
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inline const PointList &getGridCell(CoordinatesType u_rows, CoordinatesType v_cols) const¶
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inline GridCoordinates getFullestGridCell() const¶
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cv::Mat getOccupancyMask(CoordinatesType radius_mask_around_points, size_t max_points_per_cell) const¶
Return a mask that covers a square of specified size around all points and masked cells if selected.
Methods to manipulate existing points in the grid.
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void setConstantWeightForAllPointsInGrid(WeightType weight)¶
Methods to filter/modify the points in the grid.
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size_t removeWeightedPointsFromOverfullCells(size_t max_points_per_cell)¶
Remove points from cells that contain more points than specified.
Points with the lowest score will be removed first.
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size_t removeWeightedPointsFromOverfullCell(const GridCoordinates &grid_coords, size_t max_points_per_cell)¶
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void removePointsFromFullestCellsUntilSize(size_t max_total_num_points)¶
Remove the weakest point from the fullest cells until the total number of points in the grid is met.
Public Types
Public Functions
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ASLAM_POINTER_TYPEDEFS(WeightedOccupancyGrid)¶
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WeightedOccupancyGrid(CoordinatesType max_input_coordinate_rows, CoordinatesType max_input_coordinate_cols, CoordinatesType cell_size_rows, CoordinatesType cell_size_cols)¶