Detailed Description

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

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMultiResDescMatchOptions:

Public Member Functions
	TMultiResDescMatchOptions ()
	Default constructor.
	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 &section)
	This method load the options from a ".ini"-like file or memory-stored string list.
void	saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.
void	dumpToTextStream (mrpt::utils::CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
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.
void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
bool	useOriFilter
	Whether or not use the filter based on orientation test.
double	oriThreshold
	The threshold for the orientation test.
bool	useDepthFilter
	Whether or not use the filter based on the depth test.
double	matchingThreshold
	The absolute threshold in descriptor distance for considering a match.
double	matchingRatioThreshold
	The ratio between the two lowest distances threshold for considering a match.
unsigned int	lowScl1
unsigned int	lowScl2
	The lowest scales in the two features to be taken into account in the matching process.
unsigned int	highScl1
unsigned int	highScl2
	The highest scales in the two features to be taken into account in the matching process.
int	searchAreaSize
	Size of the squared area where to search for a match.
int	lastSeenThreshold
	The allowed number of frames since a certain feature was seen for the last time.
int	timesSeenThreshold
	The minimum number of frames for a certain feature to be considered stable.
int	minFeaturesToFind
	The minimum number of features allowed in the system. If current number is below this value, more features will be found.
int	minFeaturesToBeLost
	The minimum number of features allowed in the system to not be considered to be lost.
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.
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::TMultiResDescMatchOptions::TMultiResDescMatchOptions ( ) [inline]

Default constructor.

Definition at line 421 of file vision/include/mrpt/vision/types.h.

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 427 of file vision/include/mrpt/vision/types.h.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const [inherited]

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

void mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const [virtual]

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

Implements mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)		`[static, protected, inherited]`

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

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)		`[static, protected, inherited]`

void mrpt::vision::TMultiResDescMatchOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[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:

  [section]
        resolution=0.10         ; blah blah...
        modeSelection=1         ; 0=blah, 1=blah,...

See also:: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::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

void mrpt::vision::TMultiResDescMatchOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[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.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		`[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.