Detailed Description

The set of parameters for all the detectors & descriptor algorithms.

Definition at line 95 of file CFeatureExtraction.h.

#include <mrpt/vision/CFeatureExtraction.h>

Inheritance diagram for mrpt::vision::CFeatureExtraction::TOptions:

Classes
struct	TAKAZEOptions
	AKAZEOptions Options. More...

struct	TBCDOptions
	BCD Options. More...

struct	TBLDOptions
	BLDOptions Descriptor Options. More...

struct	TFASTOptions
	FAST and FASTER Options. More...

struct	THarrisOptions
	Harris Options. More...

struct	TKLTOptions
	KLT Options. More...

struct	TLATCHOptions
	LATCHOptions Descriptor. More...

struct	TLogPolarImagesOptions
	LogPolarImagesOptions Options. More...

struct	TLSDOptions
	LSDOptions Options. More...

struct	TORBOptions
	ORB Options. More...

struct	TPolarImagesOptions
	PolarImagesOptions Options. More...

struct	TSIFTOptions
	SIFT Options More...

struct	TSpinImagesOptions

struct	TSURFOptions

Public Member Functions
	TOptions (const TFeatureType featsType=featKLT)
	Initalizer. More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from 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...

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. 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
TFeatureType	featsType
	Type of the extracted features. More...

unsigned int	patchSize
	Size of the patch to extract, or 0 if no patch is desired (default=21). More...

bool	useMask
	Whether to use a mask for determining the regions where not to look for keypoints (default=false). More...

bool	addNewFeatures
	Whether to add the found features to the input feature list or clear it before adding them (default=false). More...

bool	FIND_SUBPIXEL
	Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris features) More...

struct mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions	KLTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions	harrisOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TBCDOptions	BCDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions	FASTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TORBOptions	ORBOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions	SIFTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions	SURFOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions	SpinImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions	PolarImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions	LogPolarImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions	AKAZEOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLSDOptions	LSDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TBLDOptions	BLDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLATCHOptions	LATCHOptions

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

◆ TOptions()

CFeatureExtraction::TOptions::TOptions ( const TFeatureType featsType = featKLT )

Initalizer.

Definition at line 310 of file CFeatureExtraction_common.cpp.

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().

◆ dumpToTextStream()

void CFeatureExtraction::TOptions::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 403 of file CFeatureExtraction_common.cpp.

References mrpt::format(), and LOADABLEOPTS_DUMP_VAR.

Referenced by mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream().

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ loadFromConfigFile()

void CFeatureExtraction::TOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 481 of file CFeatureExtraction_common.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_CAST.

Referenced by mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile().

◆ 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().

◆ saveToConfigFile()

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

virtualinherited

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

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::maps::TSetOfMetricMapInitializers, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::TMapGenericParams, mrpt::maps::TMetricMapInitializer, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, and mrpt::slam::CICP::TConfigParams.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

◆ 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().

Member Data Documentation

◆ addNewFeatures

bool mrpt::vision::CFeatureExtraction::TOptions::addNewFeatures

Whether to add the found features to the input feature list or clear it before adding them (default=false).

Definition at line 123 of file CFeatureExtraction.h.

Referenced by TOptions().

◆ AKAZEOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions mrpt::vision::CFeatureExtraction::TOptions::AKAZEOptions

Referenced by TOptions().

◆ BCDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TBCDOptions mrpt::vision::CFeatureExtraction::TOptions::BCDOptions

◆ BLDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TBLDOptions mrpt::vision::CFeatureExtraction::TOptions::BLDOptions

Referenced by TOptions().

◆ FASTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions mrpt::vision::CFeatureExtraction::TOptions::FASTOptions

Referenced by TOptions().

◆ featsType

TFeatureType mrpt::vision::CFeatureExtraction::TOptions::featsType

Type of the extracted features.

Definition at line 108 of file CFeatureExtraction.h.

◆ FIND_SUBPIXEL

bool mrpt::vision::CFeatureExtraction::TOptions::FIND_SUBPIXEL

Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris features)

Definition at line 128 of file CFeatureExtraction.h.

Referenced by TOptions().

◆ harrisOptions

struct mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions mrpt::vision::CFeatureExtraction::TOptions::harrisOptions

Referenced by TOptions().

◆ KLTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions mrpt::vision::CFeatureExtraction::TOptions::KLTOptions

Referenced by TOptions().

◆ LATCHOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLATCHOptions mrpt::vision::CFeatureExtraction::TOptions::LATCHOptions

Referenced by TOptions().

◆ LogPolarImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions mrpt::vision::CFeatureExtraction::TOptions::LogPolarImagesOptions

Referenced by TOptions().

◆ LSDOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TLSDOptions mrpt::vision::CFeatureExtraction::TOptions::LSDOptions

Referenced by TOptions().

◆ ORBOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TORBOptions mrpt::vision::CFeatureExtraction::TOptions::ORBOptions

Referenced by TOptions().

◆ patchSize

unsigned int mrpt::vision::CFeatureExtraction::TOptions::patchSize

Size of the patch to extract, or 0 if no patch is desired (default=21).

Definition at line 113 of file CFeatureExtraction.h.

Referenced by TOptions(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ PolarImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions mrpt::vision::CFeatureExtraction::TOptions::PolarImagesOptions

Referenced by TOptions().

◆ SIFTOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions mrpt::vision::CFeatureExtraction::TOptions::SIFTOptions

Referenced by TOptions().

◆ SpinImagesOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions mrpt::vision::CFeatureExtraction::TOptions::SpinImagesOptions

Referenced by TOptions().

◆ SURFOptions

struct mrpt::vision::CFeatureExtraction::TOptions::TSURFOptions mrpt::vision::CFeatureExtraction::TOptions::SURFOptions

◆ useMask

bool mrpt::vision::CFeatureExtraction::TOptions::useMask

Whether to use a mask for determining the regions where not to look for keypoints (default=false).

Definition at line 118 of file CFeatureExtraction.h.

Referenced by TOptions().

Detailed Description

Classes

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ addNewFeatures

◆ AKAZEOptions

◆ BCDOptions

◆ BLDOptions

◆ FASTOptions

◆ featsType

◆ FIND_SUBPIXEL

◆ harrisOptions

◆ KLTOptions

◆ LATCHOptions

◆ LogPolarImagesOptions

◆ LSDOptions

◆ ORBOptions

◆ patchSize

◆ PolarImagesOptions

◆ SIFTOptions

◆ SpinImagesOptions

◆ SURFOptions

◆ useMask