Detailed Description

Parameters associated to a stereo system.

Definition at line 200 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.

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.

void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.

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.

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.

void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

virtual void	dumpToTextStream (CStream &out) const =0
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

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.

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.

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

enum mrpt::vision::TStereoSystemParams::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 218 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

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

Initilization of default parameters.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

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

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream & out ) const

pure virtualinherited

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

void mrpt::vision::TStereoSystemParams::dumpToTextStream ( CStream & out ) const

See utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

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

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

void mrpt::vision::TStereoSystemParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::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

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

inlinevirtualinherited

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

See Also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

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.