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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 644 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::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
 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
 The sigmas for the Gaussian kernels. More...
 
double sg2
 
double sg3
 
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
 Intrinsic stereo pair parameters for computing the depth of the feature. More...
 
double cx
 
double cy
 
double baseline
 
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 (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 672 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,
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 698 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 44 of file CLoadableOptions.cpp.

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

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

◆ 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 214 of file CFeature.cpp.

References mrpt::format().

◆ 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 TMultiResDescOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
overridevirtual

◆ 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 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 186 of file CFeature.cpp.

References mrpt::system::os::sprintf(), and 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

◆ baseline

double mrpt::vision::TMultiResDescOptions::baseline

◆ basePSize

uint32_t mrpt::vision::TMultiResDescOptions::basePSize

◆ blurImage

bool mrpt::vision::TMultiResDescOptions::blurImage

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

Definition at line 658 of file vision/include/mrpt/vision/types.h.

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

◆ comHScl

uint32_t mrpt::vision::TMultiResDescOptions::comHScl

Definition at line 651 of file vision/include/mrpt/vision/types.h.

Referenced by TMultiResDescOptions().

◆ comLScl

uint32_t mrpt::vision::TMultiResDescOptions::comLScl

The subset of scales for which to compute the descriptors.

Definition at line 651 of file vision/include/mrpt/vision/types.h.

Referenced by TMultiResDescOptions().

◆ computeDepth

bool mrpt::vision::TMultiResDescOptions::computeDepth

Whether or not to compute the depth of the feature.

Definition at line 655 of file vision/include/mrpt/vision/types.h.

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

◆ computeHashCoeffs

bool mrpt::vision::TMultiResDescOptions::computeHashCoeffs

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

Definition at line 664 of file vision/include/mrpt/vision/types.h.

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

◆ cropValue

double mrpt::vision::TMultiResDescOptions::cropValue

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

Definition at line 668 of file vision/include/mrpt/vision/types.h.

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

◆ cx

double mrpt::vision::TMultiResDescOptions::cx

◆ cy

double mrpt::vision::TMultiResDescOptions::cy

◆ fx

double mrpt::vision::TMultiResDescOptions::fx

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

Definition at line 661 of file vision/include/mrpt/vision/types.h.

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

◆ scales

std::vector<double> mrpt::vision::TMultiResDescOptions::scales

◆ sg1

double mrpt::vision::TMultiResDescOptions::sg1

◆ sg2

double mrpt::vision::TMultiResDescOptions::sg2

◆ sg3

double mrpt::vision::TMultiResDescOptions::sg3



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