struct mrpt::vision::TStereoSystemParams

Overview

Parameters associated to a stereo system.

#include <mrpt/vision/types.h>

struct TStereoSystemParams: public mrpt::config::CLoadableOptions
{
    // enums

    enum TUnc_Prop_Method;

    // fields

    TUnc_Prop_Method uncPropagation {Prop_Linear};
    mrpt::math::CMatrixDouble33 F;
    mrpt::math::CMatrixDouble33 K;
    float baseline {0.119f};
    float stdPixel {1};
    float stdDisp {1};
    float maxZ {20.0f};
    float minZ {0.5f};
    float maxY {3.0f};
    float factor_k {1.5f};
    float factor_a {1e-3f};
    float factor_b {2.0f};

    // construction

    TStereoSystemParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

mrpt::math::CMatrixDouble33 F

Stereo Fundamental matrix.

mrpt::math::CMatrixDouble33 K

Intrinsic parameters.

float baseline {0.119f}

Baseline.

Default value: baseline = 0.119f; [Bumblebee]

float stdPixel {1}

Standard deviation of the error in feature detection.

Default value: stdPixel = 1

float stdDisp {1}

Standard deviation of the error in disparity computation.

Default value: stdDisp = 1

float maxZ {20.0f}

Maximum allowed distance.

Default value: maxZ = 20.0f

float minZ {0.5f}

Maximum allowed distance.

Default value: minZ = 0.5f

float maxY {3.0f}

Maximum allowed height.

Default value: maxY = 3.0f

float factor_k {1.5f}

K factor for the UT.

Default value: k = 1.5f

float factor_a {1e-3f}

Alpha factor for SUT.

Default value: a = 1e-3

float factor_b {2.0f}

Beta factor for the SUT.

Default value: b = 2.0f

Construction

TStereoSystemParams()

Initilization of default parameters.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...