mrpt::vision::TStereoSystemParams Struct Reference

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Detailed Description

Parameters associated to a stereo system.

Definition at line 134 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TStereoSystemParams:

List of all members.

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.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
TUnc_Prop_Method	uncPropagation
CMatrixDouble33	F
	Stereo Fundamental matrix.
CMatrixDouble33	K
	Intrinsic parameters.
float	baseline
	Baseline.
float	stdPixel
	Standard deviation of the error in feature detection.
float	stdDisp
	Standard deviation of the error in disparity computation.
float	maxZ
	Maximum allowed distance.
float	minZ
	Maximum allowed distance.
float	maxY
	Maximum allowed height.
float	factor_k
	K factor for the UT.
float	factor_a
	Alpha factor for SUT.
float	factor_b
	Beta factor for the SUT.

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Member Enumeration Documentation

enum mrpt::vision::TStereoSystemParams::TUnc_Prop_Method

Method for propagating the feature's image coordinate uncertainty into 3D space.

Default value: Prop_Linear

Enumerator:

Prop_Linear	Linear propagation of the uncertainty.
Prop_UT	Uncertainty propagation through the Unscented Transformation.
Prop_SUT	Uncertainty propagation through the Scaled Unscented Transformation.

Definition at line 152 of file vision/include/mrpt/vision/types.h.

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Constructor & Destructor Documentation

mrpt::vision::TStereoSystemParams::TStereoSystemParams

(

)

Initilization of default parameters.

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Member Function Documentation

void mrpt::vision::TStereoSystemParams::dumpToTextStream

(

CStream &

out )

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::vision::TStereoSystemParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

float mrpt::vision::TStereoSystemParams::baseline

Baseline.

Default value: baseline = 0.119f; [Bumblebee]

Definition at line 175 of file vision/include/mrpt/vision/types.h.

CMatrixDouble33 mrpt::vision::TStereoSystemParams::F

Stereo Fundamental matrix.

Definition at line 168 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 196 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 199 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 193 of file vision/include/mrpt/vision/types.h.

CMatrixDouble33 mrpt::vision::TStereoSystemParams::K

Intrinsic parameters.

Definition at line 172 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::maxY

Maximum allowed height.

Default value: maxY = 3.0f

Definition at line 190 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::maxZ

Maximum allowed distance.

Default value: maxZ = 20.0f

Definition at line 184 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TStereoSystemParams::minZ

Maximum allowed distance.

Default value: minZ = 0.5f

Definition at line 187 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 181 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 178 of file vision/include/mrpt/vision/types.h.

TUnc_Prop_Method mrpt::vision::TStereoSystemParams::uncPropagation

Definition at line 165 of file vision/include/mrpt/vision/types.h.