Struct containing the options when matching multi-resolution SIFT-like descriptors.
Definition at line 334 of file vision/include/mrpt/vision/types.h.
#include <mrpt/vision/types.h>
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 §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. | |
void | saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string §ion) |
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. | |
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. |
mrpt::vision::TMultiResDescMatchOptions::TMultiResDescMatchOptions | ( | ) | [inline] |
Default constructor.
Definition at line 355 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 361 of file vision/include/mrpt/vision/types.h.
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.
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,...
Implements mrpt::utils::CLoadableOptions.
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.
Reimplemented from mrpt::utils::CLoadableOptions.
unsigned int mrpt::vision::TMultiResDescMatchOptions::highScl1 |
Definition at line 344 of file vision/include/mrpt/vision/types.h.
unsigned int mrpt::vision::TMultiResDescMatchOptions::highScl2 |
The highest scales in the two features to be taken into account in the matching process.
Definition at line 344 of file vision/include/mrpt/vision/types.h.
The allowed number of frames since a certain feature was seen for the last time.
Definition at line 347 of file vision/include/mrpt/vision/types.h.
unsigned int mrpt::vision::TMultiResDescMatchOptions::lowScl1 |
Definition at line 343 of file vision/include/mrpt/vision/types.h.
unsigned int mrpt::vision::TMultiResDescMatchOptions::lowScl2 |
The lowest scales in the two features to be taken into account in the matching process.
Definition at line 343 of file vision/include/mrpt/vision/types.h.
The ratio between the two lowest distances threshold for considering a match.
Definition at line 342 of file vision/include/mrpt/vision/types.h.
The absolute threshold in descriptor distance for considering a match.
Definition at line 341 of file vision/include/mrpt/vision/types.h.
The minimum number of features allowed in the system to not be considered to be lost.
Definition at line 351 of file vision/include/mrpt/vision/types.h.
The minimum number of features allowed in the system. If current number is below this value, more features will be found.
Definition at line 350 of file vision/include/mrpt/vision/types.h.
The threshold for the orientation test.
Definition at line 337 of file vision/include/mrpt/vision/types.h.
Size of the squared area where to search for a match.
Definition at line 346 of file vision/include/mrpt/vision/types.h.
The minimum number of frames for a certain feature to be considered stable.
Definition at line 348 of file vision/include/mrpt/vision/types.h.
Whether or not use the filter based on the depth test.
Definition at line 339 of file vision/include/mrpt/vision/types.h.
Whether or not use the filter based on orientation test.
Definition at line 336 of file vision/include/mrpt/vision/types.h.
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