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mrpt::vision::CFeatureExtraction::TOptions Struct Reference

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:
Inheritance graph

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.

References addNewFeatures, AKAZEOptions, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_angle, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_distance, BLDOptions, mrpt::vision::CFeatureExtraction::TOptions::TLATCHOptions::bytes, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::descriptor_channels, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::descriptor_size, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::descriptor_type, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::diffusivity, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::extract_patch, FASTOptions, FIND_SUBPIXEL, mrpt::vision::CFeatureExtraction::TOptions::TLATCHOptions::half_ssd_size, harrisOptions, mrpt::vision::CFeatureExtraction::Hess, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_distance, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_intensity, mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::implementation, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::k, KLTOptions, LATCHOptions, LogPolarImagesOptions, LSDOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::min_distance, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::n_levels, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::nOctaveLayers, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::nOctaves, mrpt::vision::CFeatureExtraction::TOptions::TLSDOptions::nOctaves, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::nonmax_suppression, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::num_angles, mrpt::vision::CFeatureExtraction::TOptions::TBLDOptions::numOfOctave, ORBOptions, patchSize, PolarImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::radius, mrpt::vision::CFeatureExtraction::TOptions::TBLDOptions::reductionRatio, mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::rho_scale, mrpt::vision::CFeatureExtraction::TOptions::TLATCHOptions::rotationInvariance, mrpt::vision::CFeatureExtraction::TOptions::TLSDOptions::scale, mrpt::vision::CFeatureExtraction::TOptions::TORBOptions::scale_factor, SIFTOptions, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::sigma, SpinImagesOptions, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_dist, mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_intensity, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TAKAZEOptions::threshold, mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions::tile_image, mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions::tile_image, mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::use_KLT_response, useMask, and mrpt::vision::CFeatureExtraction::TOptions::TBLDOptions::widthOfBand.

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

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().




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