Struct containing the options when matching multi-resolution SIFT-like descriptors.
Definition at line 437 of file vision/include/mrpt/vision/types.h.
#include <mrpt/vision/types.h>
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::utils::CConfigFileBase &cfg, const std::string §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
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 §ion) |
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 §ion) 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 |
uint32_t | lowScl2 |
The lowest scales in the two features to be taken into account in the matching process. More... | |
uint32_t | highScl1 |
uint32_t | highScl2 |
The highest scales in the two features to be taken into account in the matching process. More... | |
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. If current number is below this value, more features will be found. 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 (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) |
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inline |
Default constructor.
Definition at line 458 of file vision/include/mrpt/vision/types.h.
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inline |
Definition at line 464 of file vision/include/mrpt/vision/types.h.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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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.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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virtual |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
Implements mrpt::utils::CLoadableOptions.
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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.
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virtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::utils::CLoadableOptions.
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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.
uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl1 |
Definition at line 447 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::highScl2 |
The highest scales in the two features to be taken into account in the matching process.
Definition at line 447 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::lastSeenThreshold |
The allowed number of frames since a certain feature was seen for the last time.
Definition at line 450 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl1 |
Definition at line 446 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::lowScl2 |
The lowest scales in the two features to be taken into account in the matching process.
Definition at line 446 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescMatchOptions::matchingRatioThreshold |
The ratio between the two lowest distances threshold for considering a match.
Definition at line 445 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescMatchOptions::matchingThreshold |
The absolute threshold in descriptor distance for considering a match.
Definition at line 444 of file vision/include/mrpt/vision/types.h.
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 454 of file vision/include/mrpt/vision/types.h.
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 453 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescMatchOptions::oriThreshold |
The threshold for the orientation test.
Definition at line 440 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::searchAreaSize |
Size of the squared area where to search for a match.
Definition at line 449 of file vision/include/mrpt/vision/types.h.
uint32_t mrpt::vision::TMultiResDescMatchOptions::timesSeenThreshold |
The minimum number of frames for a certain feature to be considered stable.
Definition at line 451 of file vision/include/mrpt/vision/types.h.
bool mrpt::vision::TMultiResDescMatchOptions::useDepthFilter |
Whether or not use the filter based on the depth test.
Definition at line 442 of file vision/include/mrpt/vision/types.h.
bool mrpt::vision::TMultiResDescMatchOptions::useOriFilter |
Whether or not use the filter based on orientation test.
Definition at line 439 of file vision/include/mrpt/vision/types.h.
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