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mrpt::vision::TMultiResDescMatchOptions Struct Reference

Detailed Description

Struct containing the options when matching multi-resolution SIFT-like descriptors.

Definition at line 421 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescMatchOptions:
Inheritance graph

Public Member Functions

 TMultiResDescMatchOptions ()
 Default constructor. More...
 
 TMultiResDescMatchOptions (const bool &_useOriFilter, const double &_oriThreshold, const bool &_useDepthFilter, const double &_th, const double &_th2, const unsigned int &_lwscl1, const unsigned int &_lwscl2, const unsigned int &_hwscl1, const unsigned int &_hwscl2, const int &_searchAreaSize, const int &_lsth, const int &_tsth, const int &_minFeaturesToFind, const int &_minFeaturesToBeLost)
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &section) MRPT_OVERRIDE
 Load all the params from a config source, in the format described in saveToConfigFile() More...
 
void saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &section) const MRPT_OVERRIDE
 This method saves the options to 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...
 
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

bool useOriFilter
 Whether or not use the filter based on orientation test. More...
 
double oriThreshold
 The threshold for the orientation test. More...
 
bool useDepthFilter
 Whether or not use the filter based on the depth test. More...
 
double matchingThreshold
 The absolute threshold in descriptor distance for considering a match. More...
 
double matchingRatioThreshold
 The ratio between the two lowest distances threshold for considering a match. More...
 
uint32_t lowScl1
 
uint32_t lowScl2
 The lowest scales in the two features to be taken into account in the matching process. More...
 
uint32_t highScl1
 
uint32_t highScl2
 The highest scales in the two features to be taken into account in the matching process. More...
 
uint32_t searchAreaSize
 Size of the squared area where to search for a match. More...
 
uint32_t lastSeenThreshold
 The allowed number of frames since a certain feature was seen for the last time. More...
 
uint32_t timesSeenThreshold
 The minimum number of frames for a certain feature to be considered stable. More...
 
uint32_t minFeaturesToFind
 The minimum number of features allowed in the system. If current number is below this value, more features will be found. More...
 
uint32_t minFeaturesToBeLost
 The minimum number of features allowed in the system to not be considered to be lost. More...
 

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

mrpt::vision::TMultiResDescMatchOptions::TMultiResDescMatchOptions ( )
inline

Default constructor.

Definition at line 442 of file vision/include/mrpt/vision/types.h.

mrpt::vision::TMultiResDescMatchOptions::TMultiResDescMatchOptions ( const bool &  _useOriFilter,
const double &  _oriThreshold,
const bool &  _useDepthFilter,
const double &  _th,
const double &  _th2,
const unsigned int _lwscl1,
const unsigned int _lwscl2,
const unsigned int _hwscl1,
const unsigned int _hwscl2,
const int _searchAreaSize,
const int _lsth,
const int _tsth,
const int _minFeaturesToFind,
const int _minFeaturesToBeLost 
)
inline

Definition at line 448 of file vision/include/mrpt/vision/types.h.

References MRPT_OVERRIDE.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void TMultiResDescMatchOptions::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 96 of file CFeature.cpp.

References mrpt::utils::CStream::printf(), and RAD2DEG.

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 TMultiResDescMatchOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase cfg,
const std::string section 
)
virtual

Load all the params from a config source, in the format described in saveToConfigFile()

Implements mrpt::utils::CLoadableOptions.

Definition at line 38 of file CFeature.cpp.

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 TMultiResDescMatchOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtual

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 64 of file CFeature.cpp.

References mrpt::utils::CConfigFileBase::write().

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

uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl1
uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl2

The highest scales in the two features to be taken into account in the matching process.

Definition at line 431 of file vision/include/mrpt/vision/types.h.

uint32_t mrpt::vision::TMultiResDescMatchOptions::lastSeenThreshold

The allowed number of frames since a certain feature was seen for the last time.

Definition at line 434 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::checkScalesAndFindMore(), and mrpt::vision::matchMultiResolutionFeatures().

uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl1
uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl2

The lowest scales in the two features to be taken into account in the matching process.

Definition at line 430 of file vision/include/mrpt/vision/types.h.

double mrpt::vision::TMultiResDescMatchOptions::matchingRatioThreshold

The ratio between the two lowest distances threshold for considering a match.

Definition at line 429 of file vision/include/mrpt/vision/types.h.

double mrpt::vision::TMultiResDescMatchOptions::matchingThreshold

The absolute threshold in descriptor distance for considering a match.

Definition at line 428 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures(), and mrpt::vision::relocalizeMultiDesc().

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToBeLost

The minimum number of features allowed in the system to not be considered to be lost.

Definition at line 438 of file vision/include/mrpt/vision/types.h.

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToFind

The minimum number of features allowed in the system. If current number is below this value, more features will be found.

Definition at line 437 of file vision/include/mrpt/vision/types.h.

double mrpt::vision::TMultiResDescMatchOptions::oriThreshold

The threshold for the orientation test.

Definition at line 424 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

uint32_t mrpt::vision::TMultiResDescMatchOptions::searchAreaSize

Size of the squared area where to search for a match.

Definition at line 433 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

uint32_t mrpt::vision::TMultiResDescMatchOptions::timesSeenThreshold

The minimum number of frames for a certain feature to be considered stable.

Definition at line 435 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::checkScalesAndFindMore().

bool mrpt::vision::TMultiResDescMatchOptions::useDepthFilter

Whether or not use the filter based on the depth test.

Definition at line 426 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

bool mrpt::vision::TMultiResDescMatchOptions::useOriFilter

Whether or not use the filter based on orientation test.

Definition at line 423 of file vision/include/mrpt/vision/types.h.




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