TimeCostObstacleDensity is a time cost function for the obstacle density that uses image processing filters. The measurement with a loading is done by the ObstacleGaussianFilter that uses the javaCV library. This has to be done only once, because the obstacles don't move.
the image filter for the measurement of the density by calculating the integral over the obstacle area by using the convolution.
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the next decorator (time cost function) of the decorator pattern.
the loading of the obstacle density (= c_o).
only for logging.