MRPT  1.9.9
mrpt::vision::TStereoSystemParams Struct Reference

Detailed Description

Parameters associated to a stereo system.

Definition at line 239 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TStereoSystemParams:

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::config::CConfigFileBase &source, const std::string &section) override
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (std::ostream &out) const override
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 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::config::CConfigFileBase &target, const std::string &section) 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 &section) 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 {Prop_Linear}
 
mrpt::math::CMatrixDouble33 F
 Stereo Fundamental matrix. More...
 
mrpt::math::CMatrixDouble33 K
 Intrinsic parameters. More...
 
float baseline {0.119f}
 Baseline. More...
 
float stdPixel {1}
 Standard deviation of the error in feature detection. More...
 
float stdDisp {1}
 Standard deviation of the error in disparity computation. More...
 
float maxZ {20.0f}
 Maximum allowed distance. More...
 
float minZ {0.5f}
 Maximum allowed distance. More...
 
float maxY {3.0f}
 Maximum allowed height. More...
 
float factor_k {1.5f}
 K factor for the UT. More...
 
float factor_a {1e-3f}
 Alpha factor for SUT. More...
 
float factor_b {2.0f}
 Beta factor for the SUT. More...
 

Static Protected Member Functions

static void dumpVar_int (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Member Enumeration Documentation

◆ 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 252 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

◆ TStereoSystemParams()

TStereoSystemParams::TStereoSystemParams ( )

Initilization of default parameters.

Definition at line 1918 of file vision_utils.cpp.

References mrpt::vision::defaultIntrinsicParamsMatrix(), F, K, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ dumpToTextStream()

void TStereoSystemParams::dumpToTextStream ( std::ostream &  out) const
overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 1974 of file vision_utils.cpp.

References baseline, F, factor_a, factor_b, factor_k, mrpt::format(), K, maxY, maxZ, minZ, Prop_Linear, Prop_SUT, Prop_UT, stdDisp, stdPixel, and uncPropagation.

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out,
const char *  varName,
const std::string v 
)
staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ loadFromConfigFile()

void TStereoSystemParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
overridevirtual

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,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 1930 of file vision_utils.cpp.

References baseline, F, factor_a, factor_b, factor_k, iniFile(), K, maxY, maxZ, minZ, Prop_Linear, Prop_SUT, Prop_UT, stdDisp, stdPixel, and uncPropagation.

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
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.

See also
loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

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◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::config::CConfigFileBase target,
const std::string section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
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.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ baseline

float mrpt::vision::TStereoSystemParams::baseline {0.119f}

Baseline.

Default value: baseline = 0.119f; [Bumblebee]

Definition at line 275 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ F

mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::F

Stereo Fundamental matrix.

Definition at line 268 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and TStereoSystemParams().

◆ factor_a

float mrpt::vision::TStereoSystemParams::factor_a {1e-3f}

Alpha factor for SUT.

Default value: a = 1e-3

Definition at line 298 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ factor_b

float mrpt::vision::TStereoSystemParams::factor_b {2.0f}

Beta factor for the SUT.

Default value: b = 2.0f

Definition at line 301 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ factor_k

float mrpt::vision::TStereoSystemParams::factor_k {1.5f}

K factor for the UT.

Default value: k = 1.5f

Definition at line 295 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ K

◆ maxY

float mrpt::vision::TStereoSystemParams::maxY {3.0f}

Maximum allowed height.

Default value: maxY = 3.0f

Definition at line 292 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ maxZ

float mrpt::vision::TStereoSystemParams::maxZ {20.0f}

Maximum allowed distance.

Default value: maxZ = 20.0f

Definition at line 286 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ minZ

float mrpt::vision::TStereoSystemParams::minZ {0.5f}

Maximum allowed distance.

Default value: minZ = 0.5f

Definition at line 289 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ stdDisp

float mrpt::vision::TStereoSystemParams::stdDisp {1}

Standard deviation of the error in disparity computation.

Default value: stdDisp = 1

Definition at line 283 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ stdPixel

float mrpt::vision::TStereoSystemParams::stdPixel {1}

Standard deviation of the error in feature detection.

Default value: stdPixel = 1

Definition at line 279 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ uncPropagation

TUnc_Prop_Method mrpt::vision::TStereoSystemParams::uncPropagation {Prop_Linear}

Definition at line 265 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




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