Parameters associated to a stereo system.
Definition at line 167 of file vision/include/mrpt/vision/types.h.
#include <mrpt/vision/types.h>
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 §ion) |
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 §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... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) 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 §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 | |
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) |
mrpt::vision::TStereoSystemParams::TStereoSystemParams | ( | ) |
Initilization of default parameters.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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virtual |
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 |
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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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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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.
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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