struct mrpt::vision::TMultiResDescMatchOptions

Overview

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

#include <mrpt/vision/types.h>

struct TMultiResDescMatchOptions: public mrpt::config::CLoadableOptions
{
    // fields

    bool useOriFilter {true};
    double oriThreshold {0.2};
    bool useDepthFilter {true};
    double matchingThreshold {1e4};
    double matchingRatioThreshold {0.5};
    uint32_t lowScl1 {0};
    uint32_t lowScl2 {0};
    uint32_t highScl1 {6};
    uint32_t highScl2 {6};
    uint32_t searchAreaSize {20};
    uint32_t lastSeenThreshold {10};
    uint32_t timesSeenThreshold {5};
    uint32_t minFeaturesToFind {30};
    uint32_t minFeaturesToBeLost {5};

    // construction

    TMultiResDescMatchOptions();

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

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

bool useOriFilter {true}

Whether or not use the filter based on orientation test.

double oriThreshold {0.2}

The threshold for the orientation test.

bool useDepthFilter {true}

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

double matchingThreshold {1e4}

The absolute threshold in descriptor distance for considering a match.

double matchingRatioThreshold {0.5}

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

uint32_t lowScl1 {0}

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

uint32_t highScl1 {6}

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

uint32_t searchAreaSize {20}

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

uint32_t lastSeenThreshold {10}

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

uint32_t timesSeenThreshold {5}

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

uint32_t minFeaturesToFind {30}

The minimum number of features allowed in the system.

If current number is below this value, more features will be found.

uint32_t minFeaturesToBeLost {5}

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

Construction

TMultiResDescMatchOptions()

Default constructor.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& section)

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

virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const

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