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mrpt::vision::TStereoSystemParams Struct Reference

Detailed Description

Parameters associated to a stereo system.

Definition at line 167 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TStereoSystemParams:
Inheritance graph

Public Types

enum  TUnc_Prop_Method { Prop_Linear = -1, Prop_UT, Prop_SUT }
 Method for propagating the feature's image coordinate uncertainty into 3D space. More...
 

Public Member Functions

 TStereoSystemParams ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. 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...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. 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

TUnc_Prop_Method uncPropagation
 
mrpt::math::CMatrixDouble33 F
 Stereo Fundamental matrix. More...
 
mrpt::math::CMatrixDouble33 K
 Intrinsic parameters. More...
 
float baseline
 Baseline. More...
 
float stdPixel
 Standard deviation of the error in feature detection. More...
 
float stdDisp
 Standard deviation of the error in disparity computation. More...
 
float maxZ
 Maximum allowed distance. More...
 
float minZ
 Maximum allowed distance. More...
 
float maxY
 Maximum allowed height. More...
 
float factor_k
 K factor for the UT. More...
 
float factor_a
 Alpha factor for SUT. More...
 
float factor_b
 Beta factor for the SUT. 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)
 

Constructor & Destructor Documentation

mrpt::vision::TStereoSystemParams::TStereoSystemParams ( )

Initilization of default parameters.

Member Function Documentation

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

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::vision::TStereoSystemParams::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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 
)
staticprotectedinherited
void mrpt::vision::TStereoSystemParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
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
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

void mrpt::utils::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

Member Data Documentation

float mrpt::vision::TStereoSystemParams::baseline

Baseline.

Default value: baseline = 0.119f; [Bumblebee]

Definition at line 208 of file vision/include/mrpt/vision/types.h.

mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::F

Stereo Fundamental matrix.

Definition at line 201 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::factor_a

Alpha factor for SUT.

Default value: a = 1e-3

Definition at line 229 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::factor_b

Beta factor for the SUT.

Default value: b = 2.0f

Definition at line 232 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::factor_k

K factor for the UT.

Default value: k = 1.5f

Definition at line 226 of file vision/include/mrpt/vision/types.h.

mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::K

Intrinsic parameters.

Definition at line 205 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::maxY

Maximum allowed height.

Default value: maxY = 3.0f

Definition at line 223 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::maxZ

Maximum allowed distance.

Default value: maxZ = 20.0f

Definition at line 217 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::minZ

Maximum allowed distance.

Default value: minZ = 0.5f

Definition at line 220 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::stdDisp

Standard deviation of the error in disparity computation.

Default value: stdDisp = 1

Definition at line 214 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::stdPixel

Standard deviation of the error in feature detection.

Default value: stdPixel = 1

Definition at line 211 of file vision/include/mrpt/vision/types.h.

TUnc_Prop_Method mrpt::vision::TStereoSystemParams::uncPropagation

Definition at line 198 of file vision/include/mrpt/vision/types.h.




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