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) MRPT_OVERRIDE |
This method load the options from 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... | |
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) |
Method for propagating the feature's image coordinate uncertainty into 3D space.
Default value: Prop_Linear
Definition at line 177 of file vision/include/mrpt/vision/types.h.
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 |
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.
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CHolonomicVFF::TOptions, mrpt::vision::TMultiResDescMatchOptions, and mrpt::vision::TMultiResDescOptions.
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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 200 of file vision/include/mrpt/vision/types.h.
mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::F |
Stereo Fundamental matrix.
Definition at line 193 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 221 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 224 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 218 of file vision/include/mrpt/vision/types.h.
mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::K |
Intrinsic parameters.
Definition at line 197 of file vision/include/mrpt/vision/types.h.
float mrpt::vision::TStereoSystemParams::maxY |
Maximum allowed height.
Default value: maxY = 3.0f
Definition at line 215 of file vision/include/mrpt/vision/types.h.
float mrpt::vision::TStereoSystemParams::maxZ |
Maximum allowed distance.
Default value: maxZ = 20.0f
Definition at line 209 of file vision/include/mrpt/vision/types.h.
float mrpt::vision::TStereoSystemParams::minZ |
Maximum allowed distance.
Default value: minZ = 0.5f
Definition at line 212 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 206 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 203 of file vision/include/mrpt/vision/types.h.
TUnc_Prop_Method mrpt::vision::TStereoSystemParams::uncPropagation |
Definition at line 190 of file vision/include/mrpt/vision/types.h.
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