Template Class WeightedOccupancyGrid¶
Defined in File occupancy-grid.h
Class Documentation¶
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template<typename
PointType
= WeightedKeypoint<double, double, int>>
classaslam::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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