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mrpt::vision::TStereoSystemParams Struct Reference

Detailed Description

Parameters associated to a stereo system.

Definition at line 167 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TStereoSystemParams:
Inheritance graph

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::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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::utils::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
 
mrpt::math::CMatrixDouble33 F
 Stereo Fundamental matrix. More...
 
mrpt::math::CMatrixDouble33 K
 Intrinsic parameters. More...
 
float baseline
 Baseline. More...
 
float stdPixel
 Standard deviation of the error in feature detection. More...
 
float stdDisp
 Standard deviation of the error in disparity computation. More...
 
float maxZ
 Maximum allowed distance. More...
 
float minZ
 Maximum allowed distance. More...
 
float maxY
 Maximum allowed height. More...
 
float factor_k
 K factor for the UT. More...
 
float factor_a
 Alpha factor for SUT. More...
 
float factor_b
 Beta factor for the SUT. More...
 

Static Protected Member Functions

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

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 177 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

TStereoSystemParams::TStereoSystemParams ( )

Initilization of default parameters.

Definition at line 2101 of file vision_utils.cpp.

References mrpt::vision::defaultIntrinsicParamsMatrix(), F, and K.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void TStereoSystemParams::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

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

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

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 2167 of file vision_utils.cpp.

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

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void TStereoSystemParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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::utils::CLoadableOptions.

Definition at line 2122 of file vision_utils.cpp.

References baseline, F, factor_a, factor_b, factor_k, K, maxY, maxZ, minZ, Prop_Linear, Prop_SUT, Prop_UT, mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_vector(), stdDisp, stdPixel, and uncPropagation.

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 23 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

float mrpt::vision::TStereoSystemParams::baseline
mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::F
float mrpt::vision::TStereoSystemParams::factor_a

Alpha factor for SUT.

Default value: a = 1e-3

Definition at line 221 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::projectMatchedFeatures().

float mrpt::vision::TStereoSystemParams::factor_b

Beta factor for the SUT.

Default value: b = 2.0f

Definition at line 224 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::projectMatchedFeatures().

float mrpt::vision::TStereoSystemParams::factor_k

K factor for the UT.

Default value: k = 1.5f

Definition at line 218 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::projectMatchedFeatures().

mrpt::math::CMatrixDouble33 mrpt::vision::TStereoSystemParams::K
float mrpt::vision::TStereoSystemParams::maxY

Maximum allowed height.

Default value: maxY = 3.0f

Definition at line 215 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::projectMatchedFeatures().

float mrpt::vision::TStereoSystemParams::maxZ
float mrpt::vision::TStereoSystemParams::minZ
float mrpt::vision::TStereoSystemParams::stdDisp

Standard deviation of the error in disparity computation.

Default value: stdDisp = 1

Definition at line 206 of file vision/include/mrpt/vision/types.h.

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

float mrpt::vision::TStereoSystemParams::stdPixel

Standard deviation of the error in feature detection.

Default value: stdPixel = 1

Definition at line 203 of file vision/include/mrpt/vision/types.h.

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

TUnc_Prop_Method mrpt::vision::TStereoSystemParams::uncPropagation



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