MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::vision::TMultiResDescOptions Struct Reference

Detailed Description

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

Definition at line 606 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, double _sg1, double _sg2, double _sg3, bool _computeDepth, const bool _blurImage, double _fx, double _cx, double _cy, double _baseline, bool _computeHashCoeffs, double _cropValue)
 
void loadFromConfigFile (const mrpt::config::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::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

uint32_t basePSize {23}
 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 {0.5}
 The sigmas for the Gaussian kernels. More...
 
double sg2 {7.5}
 
double sg3 {8.0}
 
bool computeDepth {true}
 Whether or not to compute the depth of the feature. More...
 
bool blurImage {true}
 Whether or not to blur the image previously to compute the descriptors. More...
 
double fx {0.0}
 Intrinsic stereo pair parameters for computing the depth of the feature. More...
 
double cx {0.0}
 
double cy {0.0}
 
double baseline {0.0}
 
bool computeHashCoeffs {false}
 Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalization) More...
 
double cropValue {0.2}
 The SIFT-like descriptor is cropped at this value during normalization. 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

◆ TMultiResDescOptions() [1/2]

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

Default constructor.

Definition at line 634 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,
double  _sg1,
double  _sg2,
double  _sg3,
bool  _computeDepth,
const bool  _blurImage,
double  _fx,
double  _cx,
double  _cy,
double  _baseline,
bool  _computeHashCoeffs,
double  _cropValue 
)
inline

Definition at line 648 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::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

void TMultiResDescOptions::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 213 of file CFeature.cpp.

References mrpt::format(), and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

void TMultiResDescOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
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 150 of file CFeature.cpp.

References mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::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::config::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ saveToConfigFile()

void TMultiResDescOptions::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 185 of file CFeature.cpp.

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

◆ baseline

double mrpt::vision::TMultiResDescOptions::baseline {0.0}

Definition at line 623 of file vision/include/mrpt/vision/types.h.

◆ basePSize

uint32_t mrpt::vision::TMultiResDescOptions::basePSize {23}

The size of the base patch.

Definition at line 609 of file vision/include/mrpt/vision/types.h.

◆ blurImage

bool mrpt::vision::TMultiResDescOptions::blurImage {true}

Whether or not to blur the image previously to compute the descriptors.

Definition at line 620 of file vision/include/mrpt/vision/types.h.

◆ comHScl

uint32_t mrpt::vision::TMultiResDescOptions::comHScl

Definition at line 613 of file vision/include/mrpt/vision/types.h.

Referenced by TMultiResDescOptions().

◆ comLScl

uint32_t mrpt::vision::TMultiResDescOptions::comLScl

The subset of scales for which to compute the descriptors.

Definition at line 613 of file vision/include/mrpt/vision/types.h.

Referenced by TMultiResDescOptions().

◆ computeDepth

bool mrpt::vision::TMultiResDescOptions::computeDepth {true}

Whether or not to compute the depth of the feature.

Definition at line 617 of file vision/include/mrpt/vision/types.h.

◆ computeHashCoeffs

bool mrpt::vision::TMultiResDescOptions::computeHashCoeffs {false}

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

Definition at line 626 of file vision/include/mrpt/vision/types.h.

◆ cropValue

double mrpt::vision::TMultiResDescOptions::cropValue {0.2}

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

Definition at line 630 of file vision/include/mrpt/vision/types.h.

◆ cx

double mrpt::vision::TMultiResDescOptions::cx {0.0}

Definition at line 623 of file vision/include/mrpt/vision/types.h.

◆ cy

double mrpt::vision::TMultiResDescOptions::cy {0.0}

Definition at line 623 of file vision/include/mrpt/vision/types.h.

◆ fx

double mrpt::vision::TMultiResDescOptions::fx {0.0}

Intrinsic stereo pair parameters for computing the depth of the feature.

Definition at line 623 of file vision/include/mrpt/vision/types.h.

◆ scales

std::vector<double> mrpt::vision::TMultiResDescOptions::scales

The set of scales relatives to the base patch.

Definition at line 611 of file vision/include/mrpt/vision/types.h.

Referenced by TMultiResDescOptions().

◆ sg1

double mrpt::vision::TMultiResDescOptions::sg1 {0.5}

The sigmas for the Gaussian kernels.

Definition at line 615 of file vision/include/mrpt/vision/types.h.

◆ sg2

double mrpt::vision::TMultiResDescOptions::sg2 {7.5}

Definition at line 615 of file vision/include/mrpt/vision/types.h.

◆ sg3

double mrpt::vision::TMultiResDescOptions::sg3 {8.0}

Definition at line 615 of file vision/include/mrpt/vision/types.h.




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