Detailed Description

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

Definition at line 525 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 (bool _useOriFilter, double _oriThreshold, bool _useDepthFilter, double _th, double _th2, const unsigned int &_lwscl1, const unsigned int &_lwscl2, const unsigned int &_hwscl1, const unsigned int &_hwscl2, int _searchAreaSize, int _lsth, int _tsth, int _minFeaturesToFind, 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	(	bool	_useOriFilter,
		double	_oriThreshold,
		bool	_useDepthFilter,
		double	_th,
		double	_th2,
		const unsigned int &	_lwscl1,
		const unsigned int &	_lwscl2,
		const unsigned int &	_hwscl1,
		const unsigned int &	_hwscl2,
		int	_searchAreaSize,
		int	_lsth,
		int	_tsth,
		int	_minFeaturesToFind,
		int	_minFeaturesToBeLost
	)

inline

Definition at line 567 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 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 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(), out, 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 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 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().

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

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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.