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mrpt::vision::TStereoSystemParams Struct Reference


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:
Inheritance graph
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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.

Member Enumeration Documentation

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.


Constructor & Destructor Documentation

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

Initilization of default parameters.


Member Function Documentation

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

Member Data Documentation

Baseline.

Default value: baseline = 0.119f; [Bumblebee]

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

Stereo Fundamental matrix.

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

Alpha factor for SUT.

Default value: a = 1e-3

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

Beta factor for the SUT.

Default value: b = 2.0f

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

K factor for the UT.

Default value: k = 1.5f

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

Intrinsic parameters.

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

Maximum allowed height.

Default value: maxY = 3.0f

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

Maximum allowed distance.

Default value: maxZ = 20.0f

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

Maximum allowed distance.

Default value: minZ = 0.5f

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

Standard deviation of the error in disparity computation.

Default value: stdDisp = 1

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

Standard deviation of the error in feature detection.

Default value: stdPixel = 1

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

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




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