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mrpt::vision::TMultiResDescOptions Struct Reference

Detailed Description

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

Definition at line 466 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescOptions:
Inheritance graph

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, const double &_sg1, const double &_sg2, const double &_sg3, const bool &_computeDepth, const bool _blurImage, const double &_fx, const double &_cx, const double &_cy, const double &_baseline, const bool &_computeHashCoeffs, const double &_cropValue)
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 Load all the params from a config source, in the format described in saveToConfigFile() More...
 
void saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &section) const MRPT_OVERRIDE
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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
 The size of the base patch. More...
 
std::vector< double > scales
 The set of scales relatives to the base patch. More...
 
uint32_t comLScl
 
uint32_t comHScl
 The subset of scales for which to compute the descriptors. More...
 
double sg1
 
double sg2
 
double sg3
 The sigmas for the Gaussian kernels. More...
 
bool computeDepth
 Whether or not to compute the depth of the feature. More...
 
bool blurImage
 Whether or not to blur the image previously to compute the descriptors. More...
 
double fx
 
double cx
 
double cy
 
double baseline
 Intrinsic stereo pair parameters for computing the depth of the feature. More...
 
bool computeHashCoeffs
 Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalization) More...
 
double cropValue
 The SIFT-like descriptor is cropped at this value during normalization. More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

mrpt::vision::TMultiResDescOptions::TMultiResDescOptions ( )
inline

Default constructor.

Definition at line 481 of file vision/include/mrpt/vision/types.h.

mrpt::vision::TMultiResDescOptions::TMultiResDescOptions ( const unsigned int _basePSize,
const std::vector< double > &  _scales,
const unsigned int _comLScl,
const unsigned int _comHScl,
const double &  _sg1,
const double &  _sg2,
const double &  _sg3,
const bool &  _computeDepth,
const bool  _blurImage,
const double &  _fx,
const double &  _cx,
const double &  _cy,
const double &  _baseline,
const bool &  _computeHashCoeffs,
const double &  _cropValue 
)
inline

Definition at line 496 of file vision/include/mrpt/vision/types.h.

References MRPT_OVERRIDE.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void TMultiResDescOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 193 of file CFeature.cpp.

References mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void TMultiResDescOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual
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 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void TMultiResDescOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 167 of file CFeature.cpp.

References mrpt::system::os::sprintf(), and mrpt::utils::CConfigFileBase::write().

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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

double mrpt::vision::TMultiResDescOptions::baseline

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

Definition at line 474 of file vision/include/mrpt/vision/types.h.

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

uint32_t mrpt::vision::TMultiResDescOptions::basePSize
bool mrpt::vision::TMultiResDescOptions::blurImage

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

Definition at line 473 of file vision/include/mrpt/vision/types.h.

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

uint32_t mrpt::vision::TMultiResDescOptions::comHScl

The subset of scales for which to compute the descriptors.

Definition at line 470 of file vision/include/mrpt/vision/types.h.

uint32_t mrpt::vision::TMultiResDescOptions::comLScl

Definition at line 470 of file vision/include/mrpt/vision/types.h.

bool mrpt::vision::TMultiResDescOptions::computeDepth

Whether or not to compute the depth of the feature.

Definition at line 472 of file vision/include/mrpt/vision/types.h.

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

bool mrpt::vision::TMultiResDescOptions::computeHashCoeffs

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

Definition at line 475 of file vision/include/mrpt/vision/types.h.

Referenced by mrpt::vision::computeHistogramOfOrientations(), and mrpt::vision::computeMultiResolutionDescriptors().

double mrpt::vision::TMultiResDescOptions::cropValue

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

Definition at line 477 of file vision/include/mrpt/vision/types.h.

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

double mrpt::vision::TMultiResDescOptions::cx
double mrpt::vision::TMultiResDescOptions::cy
double mrpt::vision::TMultiResDescOptions::fx
std::vector<double> mrpt::vision::TMultiResDescOptions::scales
double mrpt::vision::TMultiResDescOptions::sg1
double mrpt::vision::TMultiResDescOptions::sg2
double mrpt::vision::TMultiResDescOptions::sg3

The sigmas for the Gaussian kernels.

Definition at line 471 of file vision/include/mrpt/vision/types.h.

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




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