Detailed Description

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

Definition at line 603 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 631 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 645 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 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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(), mrpt::config::CConfigFileBase::read_uint64_t(), and mrpt::config::CConfigFileBase::read_vector().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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.