MRPT  1.9.9
mrpt::vision::TMultiResDescMatchOptions Struct Reference

Detailed Description

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

Definition at line 528 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescMatchOptions:

Public Member Functions

 TMultiResDescMatchOptions ()=default
 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::config::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::config::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 (std::ostream &out) const override
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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 {true}
 Whether or not use the filter based on orientation test. More...
 
double oriThreshold {0.2}
 The threshold for the orientation test. More...
 
bool useDepthFilter {true}
 Whether or not use the filter based on the depth test. More...
 
double matchingThreshold {1e4}
 The absolute threshold in descriptor distance for considering a match. More...
 
double matchingRatioThreshold {0.5}
 The ratio between the two lowest distances threshold for considering a match. More...
 
uint32_t lowScl1 {0}
 The lowest scales in the two features to be taken into account in the matching process. More...
 
uint32_t lowScl2 {0}
 
uint32_t highScl1 {6}
 The highest scales in the two features to be taken into account in the matching process. More...
 
uint32_t highScl2 {6}
 
uint32_t searchAreaSize {20}
 Size of the squared area where to search for a match. More...
 
uint32_t lastSeenThreshold {10}
 The allowed number of frames since a certain feature was seen for the last time. More...
 
uint32_t timesSeenThreshold {5}
 The minimum number of frames for a certain feature to be considered stable. More...
 
uint32_t minFeaturesToFind {30}
 The minimum number of features allowed in the system. More...
 
uint32_t minFeaturesToBeLost {5}
 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 (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TMultiResDescMatchOptions() [1/2]

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

Default constructor.

◆ 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 570 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::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ dumpToTextStream()

void TMultiResDescMatchOptions::dumpToTextStream ( std::ostream &  out) const
overridevirtual

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

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

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 103 of file CFeature.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

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

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ loadFromConfigFile()

void TMultiResDescMatchOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase cfg,
const std::string section 
)
overridevirtual

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

Implements mrpt::config::CLoadableOptions.

Definition at line 41 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::config::CLoadableOptions::loadFromConfigFile().

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◆ saveToConfigFile()

void TMultiResDescMatchOptions::saveToConfigFile ( mrpt::config::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::config::CLoadableOptions.

Definition at line 70 of file CFeature.cpp.

References mrpt::config::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.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

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

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Member Data Documentation

◆ highScl1

uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl1 {6}

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

Definition at line 548 of file vision/include/mrpt/vision/types.h.

◆ highScl2

uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl2 {6}

Definition at line 548 of file vision/include/mrpt/vision/types.h.

◆ lastSeenThreshold

uint32_t mrpt::vision::TMultiResDescMatchOptions::lastSeenThreshold {10}

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

Definition at line 554 of file vision/include/mrpt/vision/types.h.

◆ lowScl1

uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl1 {0}

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

Definition at line 545 of file vision/include/mrpt/vision/types.h.

◆ lowScl2

uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl2 {0}

Definition at line 545 of file vision/include/mrpt/vision/types.h.

◆ matchingRatioThreshold

double mrpt::vision::TMultiResDescMatchOptions::matchingRatioThreshold {0.5}

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

Definition at line 542 of file vision/include/mrpt/vision/types.h.

◆ matchingThreshold

double mrpt::vision::TMultiResDescMatchOptions::matchingThreshold {1e4}

The absolute threshold in descriptor distance for considering a match.

Definition at line 539 of file vision/include/mrpt/vision/types.h.

◆ minFeaturesToBeLost

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToBeLost {5}

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

Definition at line 564 of file vision/include/mrpt/vision/types.h.

◆ minFeaturesToFind

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToFind {30}

The minimum number of features allowed in the system.

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

Definition at line 561 of file vision/include/mrpt/vision/types.h.

◆ oriThreshold

double mrpt::vision::TMultiResDescMatchOptions::oriThreshold {0.2}

The threshold for the orientation test.

Definition at line 533 of file vision/include/mrpt/vision/types.h.

◆ searchAreaSize

uint32_t mrpt::vision::TMultiResDescMatchOptions::searchAreaSize {20}

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

Definition at line 551 of file vision/include/mrpt/vision/types.h.

◆ timesSeenThreshold

uint32_t mrpt::vision::TMultiResDescMatchOptions::timesSeenThreshold {5}

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

Definition at line 557 of file vision/include/mrpt/vision/types.h.

◆ useDepthFilter

bool mrpt::vision::TMultiResDescMatchOptions::useDepthFilter {true}

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

Definition at line 536 of file vision/include/mrpt/vision/types.h.

◆ useOriFilter

bool mrpt::vision::TMultiResDescMatchOptions::useOriFilter {true}

Whether or not use the filter based on orientation test.

Definition at line 531 of file vision/include/mrpt/vision/types.h.




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