Detailed Description

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

Definition at line 553 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescMatchOptions:

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

void	dumpToTextStream (mrpt::utils::CStream &out) const 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
	The lowest scales in the two features to be taken into account in the matching process. More...

uint32_t	lowScl2

uint32_t	highScl1
	The highest scales in the two features to be taken into account in the matching process. More...

uint32_t	highScl2

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. 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

◆ TMultiResDescMatchOptions() [1/2]

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

inline

Default constructor.

Definition at line 593 of file vision/include/mrpt/vision/types.h.

◆ TMultiResDescMatchOptions() [2/2]

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 611 of file vision/include/mrpt/vision/types.h.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

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◆ dumpToTextStream()

void TMultiResDescMatchOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

overridevirtual

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 101 of file CFeature.cpp.

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

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 65 of file CLoadableOptions.cpp.

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

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 59 of file CLoadableOptions.cpp.

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

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 54 of file CLoadableOptions.cpp.

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

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◆ dumpVar_int()

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 49 of file CLoadableOptions.cpp.

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

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 71 of file CLoadableOptions.cpp.

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

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◆ loadFromConfigFile()

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

overridevirtual

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

Implements mrpt::utils::CLoadableOptions.

Definition at line 39 of file CFeature.cpp.

◆ loadFromConfigFileName()

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 22 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

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◆ saveToConfigFile()

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

overridevirtual

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 68 of file CFeature.cpp.

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

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◆ saveToConfigFileName()

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.