Detailed Description

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

Definition at line 87 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 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
	SpinImages Options. More...

struct	TSURFOptions
	SURF Options. More...

Public Member Functions
	TOptions ()=default

	TOptions (const TKeyPointMethod ft)

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &c, const std::string &s) 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
TKeyPointMethod	featsType {featKLT}
	Type of the extracted features. More...

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

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

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

bool	FIND_SUBPIXEL {true}
	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() [1/2]

mrpt::vision::CFeatureExtraction::TOptions::TOptions ( )

default

◆ TOptions() [2/2]

mrpt::vision::CFeatureExtraction::TOptions::TOptions ( const TKeyPointMethod ft )

inline

Definition at line 90 of file CFeatureExtraction.h.

References featsType.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 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 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 144 of file CFeatureExtraction_common.cpp.

References LOADABLEOPTS_DUMP_VAR, and out.

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 62 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 56 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 50 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 44 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 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ 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 221 of file CFeatureExtraction_common.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_CAST.

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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 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::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, 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.

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

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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 36 of file CLoadableOptions.cpp.

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

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Member Data Documentation

◆ addNewFeatures

bool mrpt::vision::CFeatureExtraction::TOptions::addNewFeatures {false}

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

Definition at line 114 of file CFeatureExtraction.h.

◆ AKAZEOptions

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

◆ BCDOptions

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

◆ BLDOptions

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

◆ FASTOptions

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

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures().

◆ featsType

TKeyPointMethod mrpt::vision::CFeatureExtraction::TOptions::featsType {featKLT}

Type of the extracted features.

Definition at line 99 of file CFeatureExtraction.h.

Referenced by mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), and TOptions().

◆ FIND_SUBPIXEL

bool mrpt::vision::CFeatureExtraction::TOptions::FIND_SUBPIXEL {true}

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

Definition at line 119 of file CFeatureExtraction.h.

◆ harrisOptions

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

◆ KLTOptions

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

◆ LATCHOptions

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

◆ LogPolarImagesOptions

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

◆ LSDOptions

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

◆ ORBOptions

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

◆ patchSize

unsigned int mrpt::vision::CFeatureExtraction::TOptions::patchSize {21}

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

Definition at line 104 of file CFeatureExtraction.h.

Referenced by mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ PolarImagesOptions

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

◆ SIFTOptions

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

◆ SpinImagesOptions

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

◆ SURFOptions

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

◆ useMask

bool mrpt::vision::CFeatureExtraction::TOptions::useMask {false}

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

Definition at line 109 of file CFeatureExtraction.h.

Detailed Description

Classes

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions() [1/2]

◆ TOptions() [2/2]

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