Parameters associated to a stereo system.
Definition at line 134 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. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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. |
Method for propagating the feature's image coordinate uncertainty into 3D space.
Default value: Prop_Linear
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.
mrpt::vision::TStereoSystemParams::TStereoSystemParams | ( | ) |
Initilization of default parameters.
void mrpt::vision::TStereoSystemParams::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::vision::TStereoSystemParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
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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