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mrpt::vision::CFeatureExtraction::TOptions Struct Reference

Detailed Description

The set of parameters for all the detectors & descriptor algorithms.

Definition at line 72 of file CFeatureExtraction.h.

#include <mrpt/vision/CFeatureExtraction.h>

Inheritance diagram for mrpt::vision::CFeatureExtraction::TOptions:
Inheritance graph

Classes

struct  TBCDOptions
 BCD Options. More...
 
struct  TFASTOptions
 FAST and FASTER Options. More...
 
struct  THarrisOptions
 Harris Options. More...
 
struct  TKLTOptions
 KLT Options. More...
 
struct  TLogPolarImagesOptions
 LogPolarImagesOptions Options. More...
 
struct  TORBOptions
 ORB Options. More...
 
struct  TPolarImagesOptions
 PolarImagesOptions Options. More...
 
struct  TSIFTOptions
 SIFT Options. More...
 
struct  TSpinImagesOptions
 
struct  TSURFOptions
 

Public Member Functions

 TOptions (const TFeatureType featsType=featKLT)
 Initalizer. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

TFeatureType featsType
 Type of the extracted features. More...
 
unsigned int patchSize
 Size of the patch to extract, or 0 if no patch is desired (default=21). More...
 
bool useMask
 Whether to use a mask for determining the regions where not to look for keypoints (default=false). More...
 
bool addNewFeatures
 Whether to add the found features to the input feature list or clear it before adding them (default=false). More...
 
bool FIND_SUBPIXEL
 Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris features) More...
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions KLTOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions harrisOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TBCDOptions BCDOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions FASTOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TORBOptions ORBOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions SIFTOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions SURFOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions SpinImagesOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions PolarImagesOptions
 
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions LogPolarImagesOptions
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

CFeatureExtraction::TOptions::TOptions ( const TFeatureType  featsType = featKLT)

Initalizer.

Definition at line 278 of file CFeatureExtraction_common.cpp.

References addNewFeatures, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_angle, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::extract_patch, FASTOptions, FIND_SUBPIXEL, harrisOptions, mrpt::vision::CFeatureExtraction::Hess, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_distance, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_intensity, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::implementation, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::k, KLTOptions, LogPolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::n_levels, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::nonmax_suppression, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::num_angles, ORBOptions, patchSize, PolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::rho_scale, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::scale_factor, SIFTOptions, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::sigma, SpinImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_dist, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_intensity, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::tile_image, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::tile_image, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::use_KLT_response, and useMask.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CFeatureExtraction::TOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 342 of file CFeatureExtraction_common.cpp.

References addNewFeatures, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_angle, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::extract_patch, FASTOptions, featsType, FIND_SUBPIXEL, harrisOptions, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::hessianThreshold, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_distance, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_intensity, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::implementation, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::k, KLTOptions, LOADABLEOPTS_DUMP_VAR, LogPolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::n_levels, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::nLayersPerOctave, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::nOctaves, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::nonmax_suppression, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::num_angles, ORBOptions, patchSize, PolarImagesOptions, mrpt::utils::CStream::printf(), mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::rho_scale, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::rotation_invariant, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::scale_factor, SIFTOptions, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::sigma, SpinImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_dist, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_intensity, SURFOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::use_KLT_response, and useMask.

Referenced by mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), and mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void CFeatureExtraction::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 399 of file CFeatureExtraction_common.cpp.

References addNewFeatures, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_angle, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_distance, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::edgeThreshold, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::extract_patch, FASTOptions, featsType, FIND_SUBPIXEL, harrisOptions, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::hessianThreshold, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_distance, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_intensity, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::implementation, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::k, KLTOptions, LogPolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::min_distance, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::n_levels, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::nLayersPerOctave, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::nOctaves, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::nonmax_suppression, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::num_angles, ORBOptions, patchSize, PolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::rho_scale, mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions::rotation_invariant, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::scale_factor, SIFTOptions, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::sigma, SpinImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_dist, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_intensity, SURFOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::use_KLT_response, and useMask.

Referenced by mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TInsertionOptions::loadFromConfigFile(), and mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile().

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

bool mrpt::vision::CFeatureExtraction::TOptions::addNewFeatures

Whether to add the found features to the input feature list or clear it before adding them (default=false).

Definition at line 94 of file CFeatureExtraction.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and TOptions().

struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TBCDOptions mrpt::vision::CFeatureExtraction::TOptions::BCDOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions mrpt::vision::CFeatureExtraction::TOptions::FASTOptions
TFeatureType mrpt::vision::CFeatureExtraction::TOptions::featsType

Type of the extracted features.

Definition at line 82 of file CFeatureExtraction.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::vision::CFeatureExtraction::TOptions::FIND_SUBPIXEL

Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris features)

Definition at line 98 of file CFeatureExtraction.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and TOptions().

struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions mrpt::vision::CFeatureExtraction::TOptions::harrisOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions mrpt::vision::CFeatureExtraction::TOptions::KLTOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions mrpt::vision::CFeatureExtraction::TOptions::LogPolarImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TORBOptions mrpt::vision::CFeatureExtraction::TOptions::ORBOptions
unsigned int mrpt::vision::CFeatureExtraction::TOptions::patchSize

Size of the patch to extract, or 0 if no patch is desired (default=21).

Definition at line 86 of file CFeatureExtraction.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), TOptions(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions mrpt::vision::CFeatureExtraction::TOptions::PolarImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions mrpt::vision::CFeatureExtraction::TOptions::SIFTOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions mrpt::vision::CFeatureExtraction::TOptions::SpinImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions mrpt::vision::CFeatureExtraction::TOptions::SURFOptions
bool mrpt::vision::CFeatureExtraction::TOptions::useMask

Whether to use a mask for determining the regions where not to look for keypoints (default=false).

Definition at line 90 of file CFeatureExtraction.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and TOptions().




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