Detailed Description

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

Definition at line 648 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescOptions:

Public Member Functions
	TMultiResDescOptions ()
	Default constructor. More...

	TMultiResDescOptions (const unsigned int &_basePSize, const std::vector< double > &_scales, const unsigned int &_comLScl, const unsigned int &_comHScl, const double &_sg1, const double &_sg2, const double &_sg3, const bool &_computeDepth, const bool _blurImage, const double &_fx, const double &_cx, const double &_cy, const double &_baseline, const bool &_computeHashCoeffs, const double &_cropValue)

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, 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
uint32_t	basePSize
	The size of the base patch. More...

std::vector< double >	scales
	The set of scales relatives to the base patch. More...

uint32_t	comLScl
	The subset of scales for which to compute the descriptors. More...

uint32_t	comHScl

double	sg1
	The sigmas for the Gaussian kernels. More...

double	sg2

double	sg3

bool	computeDepth
	Whether or not to compute the depth of the feature. More...

bool	blurImage
	Whether or not to blur the image previously to compute the descriptors. More...

double	fx
	Intrinsic stereo pair parameters for computing the depth of the feature. More...

double	cx

double	cy

double	baseline

bool	computeHashCoeffs
	Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalization) More...

double	cropValue
	The SIFT-like descriptor is cropped at this value during normalization. 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

◆ TMultiResDescOptions() [1/2]

mrpt::vision::TMultiResDescOptions::TMultiResDescOptions ( )

inline

Default constructor.

Definition at line 676 of file vision/include/mrpt/vision/types.h.

References comHScl, comLScl, and scales.

◆ TMultiResDescOptions() [2/2]

mrpt::vision::TMultiResDescOptions::TMultiResDescOptions	(	const unsigned int &	_basePSize,
		const std::vector< double > &	_scales,
		const unsigned int &	_comLScl,
		const unsigned int &	_comHScl,
		const double &	_sg1,
		const double &	_sg2,
		const double &	_sg3,
		const bool &	_computeDepth,
		const bool	_blurImage,
		const double &	_fx,
		const double &	_cx,
		const double &	_cy,
		const double &	_baseline,
		const bool &	_computeHashCoeffs,
		const double &	_cropValue
	)

inline

Definition at line 702 of file vision/include/mrpt/vision/types.h.

References scales.

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 TMultiResDescOptions::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 207 of file CFeature.cpp.

References mrpt::utils::CStream::printf().

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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 TMultiResDescOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		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 144 of file CFeature.cpp.

References mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_vector().

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◆ 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 TMultiResDescOptions::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 179 of file CFeature.cpp.

References mrpt::system::os::sprintf(), and 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.