struct mrpt::vision::TMultiResDescOptions¶

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

#include <mrpt/vision/types.h>

struct TMultiResDescOptions: public mrpt::config::CLoadableOptions
{
    //
fields

    uint32_t basePSize {23};
    std::vector<double> scales;
    uint32_t comLScl;
    uint32_t comHScl;
    double sg1 {0.5};
    double sg2 {7.5};
    double sg3 {8.0};
    bool computeDepth {true};
    bool blurImage {true};
    double fx {0.0};
    double cx {0.0};
    double cy {0.0};
    double baseline {0.0};
    bool computeHashCoeffs {false};
    double cropValue {0.2};

    // construction

    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
        );

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

uint32_t basePSize {23}

The size of the base patch.

std::vector<double> scales

The set of scales relatives to the base patch.

uint32_t comLScl

The subset of scales for which to compute the descriptors.

double sg1 {0.5}

The sigmas for the Gaussian kernels.

bool computeDepth {true}

Whether or not to compute the depth of the feature.

bool blurImage {true}

Whether or not to blur the image previously to compute the descriptors.

double fx {0.0}

Intrinsic stereo pair parameters for computing the depth of the feature.

bool computeHashCoeffs {false}

Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalization)

double cropValue {0.2}

The SIFT-like descriptor is cropped at this value during normalization.

Construction¶

TMultiResDescOptions()

Default constructor.

Methods¶

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

Load all the params from a config source, in the format described in saveToConfigFile()

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.