#include <mrpt/vision/utils.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 |
CMatrix | 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. |
Definition at line 65 of file vision/utils.h.
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 83 of file vision/utils.h.
mrpt::vision::TStereoSystemParams::TStereoSystemParams | ( | ) |
Initilization of default parameters.
void mrpt::vision::TStereoSystemParams::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
void mrpt::vision::TStereoSystemParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
Baseline.
Default value: baseline = 0.119f; [Bumblebee]
Definition at line 103 of file vision/utils.h.
Maximum allowed distance.
Default value: maxZ = 20.0f
Definition at line 112 of file vision/utils.h.
Standard deviation of the error in disparity computation.
Default value: stdDisp = 1
Definition at line 109 of file vision/utils.h.
Standard deviation of the error in feature detection.
Default value: stdPixel = 1
Definition at line 106 of file vision/utils.h.
Definition at line 96 of file vision/utils.h.
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