MRPT  1.9.9
mrpt::vision::TMultiResDescMatchOptions Struct Reference

Detailed Description

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

Definition at line 547 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescMatchOptions:
Inheritance graph

Public Member Functions

 TMultiResDescMatchOptions ()
 Default constructor. More...
 
 TMultiResDescMatchOptions (const bool &_useOriFilter, const double &_oriThreshold, const bool &_useDepthFilter, const double &_th, const double &_th2, const unsigned int &_lwscl1, const unsigned int &_lwscl2, const unsigned int &_hwscl1, const unsigned int &_hwscl2, const int &_searchAreaSize, const int &_lsth, const int &_tsth, const int &_minFeaturesToFind, const 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
 Whether or not use the filter based on orientation test. More...
 
double oriThreshold
 The threshold for the orientation test. More...
 
bool useDepthFilter
 Whether or not use the filter based on the depth test. More...
 
double matchingThreshold
 The absolute threshold in descriptor distance for considering a match. More...
 
double matchingRatioThreshold
 The ratio between the two lowest distances threshold for considering a match. More...
 
uint32_t lowScl1
 The lowest scales in the two features to be taken into account in the matching process. More...
 
uint32_t lowScl2
 
uint32_t highScl1
 The highest scales in the two features to be taken into account in the matching process. More...
 
uint32_t highScl2
 
uint32_t searchAreaSize
 Size of the squared area where to search for a match. More...
 
uint32_t lastSeenThreshold
 The allowed number of frames since a certain feature was seen for the last time. More...
 
uint32_t timesSeenThreshold
 The minimum number of frames for a certain feature to be considered stable. More...
 
uint32_t minFeaturesToFind
 The minimum number of features allowed in the system. More...
 
uint32_t minFeaturesToBeLost
 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 ( )
inline

Default constructor.

Definition at line 587 of file vision/include/mrpt/vision/types.h.

◆ TMultiResDescMatchOptions() [2/2]

mrpt::vision::TMultiResDescMatchOptions::TMultiResDescMatchOptions ( const bool &  _useOriFilter,
const double &  _oriThreshold,
const bool &  _useDepthFilter,
const double &  _th,
const double &  _th2,
const unsigned int &  _lwscl1,
const unsigned int &  _lwscl2,
const unsigned int &  _hwscl1,
const unsigned int &  _hwscl2,
const int &  _searchAreaSize,
const int &  _lsth,
const int &  _tsth,
const int &  _minFeaturesToFind,
const int &  _minFeaturesToBeLost 
)
inline

Definition at line 605 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 44 of file CLoadableOptions.cpp.

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

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ 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 102 of file CFeature.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

◆ 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 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 40 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().

◆ 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 69 of file CFeature.cpp.

References mrpt::config::CConfigFileBase::write().

◆ 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

◆ highScl1

uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl1

The highest scales in the two features to be taken into account in the matching process.

Definition at line 567 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

◆ highScl2

uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl2

Definition at line 567 of file vision/include/mrpt/vision/types.h.

◆ lastSeenThreshold

uint32_t mrpt::vision::TMultiResDescMatchOptions::lastSeenThreshold

The allowed number of frames since a certain feature was seen for the last time.

Definition at line 573 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::checkScalesAndFindMore(), and mrpt::vision::matchMultiResolutionFeatures().

◆ lowScl1

uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl1

The lowest scales in the two features to be taken into account in the matching process.

Definition at line 564 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

◆ lowScl2

uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl2

Definition at line 564 of file vision/include/mrpt/vision/types.h.

◆ matchingRatioThreshold

double mrpt::vision::TMultiResDescMatchOptions::matchingRatioThreshold

The ratio between the two lowest distances threshold for considering a match.

Definition at line 561 of file vision/include/mrpt/vision/types.h.

◆ matchingThreshold

double mrpt::vision::TMultiResDescMatchOptions::matchingThreshold

The absolute threshold in descriptor distance for considering a match.

Definition at line 558 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures(), and mrpt::vision::relocalizeMultiDesc().

◆ minFeaturesToBeLost

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToBeLost

The minimum number of features allowed in the system to not be considered to be lost.

Definition at line 583 of file vision/include/mrpt/vision/types.h.

◆ minFeaturesToFind

uint32_t mrpt::vision::TMultiResDescMatchOptions::minFeaturesToFind

The minimum number of features allowed in the system.

If current number is below this value, more features will be found.

Definition at line 580 of file vision/include/mrpt/vision/types.h.

◆ oriThreshold

double mrpt::vision::TMultiResDescMatchOptions::oriThreshold

The threshold for the orientation test.

Definition at line 552 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

◆ searchAreaSize

uint32_t mrpt::vision::TMultiResDescMatchOptions::searchAreaSize

Size of the squared area where to search for a match.

Definition at line 570 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

◆ timesSeenThreshold

uint32_t mrpt::vision::TMultiResDescMatchOptions::timesSeenThreshold

The minimum number of frames for a certain feature to be considered stable.

Definition at line 576 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::checkScalesAndFindMore().

◆ useDepthFilter

bool mrpt::vision::TMultiResDescMatchOptions::useDepthFilter

Whether or not use the filter based on the depth test.

Definition at line 555 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::matchMultiResolutionFeatures().

◆ useOriFilter

bool mrpt::vision::TMultiResDescMatchOptions::useOriFilter

Whether or not use the filter based on orientation test.

Definition at line 550 of file vision/include/mrpt/vision/types.h.




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