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>
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 §ion) MRPT_OVERRIDE |
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 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 §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 | |
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) |
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inline |
Default constructor.
Definition at line 481 of file vision/include/mrpt/vision/types.h.
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inline |
Definition at line 496 of file vision/include/mrpt/vision/types.h.
References MRPT_OVERRIDE.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::printParams().
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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.
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().
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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.
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.
uint32_t mrpt::vision::TMultiResDescOptions::basePSize |
The size of the base patch.
Definition at line 468 of file vision/include/mrpt/vision/types.h.
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.
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.
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.
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.
double mrpt::vision::TMultiResDescOptions::cx |
Definition at line 474 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescOptions::cy |
Definition at line 474 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescOptions::fx |
Definition at line 474 of file vision/include/mrpt/vision/types.h.
std::vector<double> mrpt::vision::TMultiResDescOptions::scales |
The set of scales relatives to the base patch.
Definition at line 469 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescOptions::sg1 |
Definition at line 471 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescOptions::sg2 |
Definition at line 471 of file vision/include/mrpt/vision/types.h.
double mrpt::vision::TMultiResDescOptions::sg3 |
The sigmas for the Gaussian kernels.
Definition at line 471 of file vision/include/mrpt/vision/types.h.
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