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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1vision.html">vision</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> </li>
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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::vision::TStereoSystemParams Struct Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<!-- doxytag: class="mrpt::vision::TStereoSystemParams" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Parameters associated to a stereo system. </p>
</div>
<p><code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">mrpt/vision/types.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::vision::TStereoSystemParams:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1vision_1_1_t_stereo_system_params__inherit__graph.png" border="0" usemap="#mrpt_1_1vision_1_1_t_stereo_system_params_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1vision_1_1_t_stereo_system_params_inherit__map" id="mrpt_1_1vision_1_1_t_stereo_system_params_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio..." alt="" coords="24,5,219,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1vision_1_1_t_stereo_system_params-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12">TUnc_Prop_Method</a> { <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12a5514c5212e07f9b73af9b3a99913c02b">Prop_Linear</a> = -1,
<a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12ae9249a778142858d54b92832ffbc7683">Prop_UT</a>,
<a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12ae479deae88cf7201cba7f1e8f9deda01">Prop_SUT</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Method for propagating the feature's image coordinate uncertainty into 3D space. <a href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a3d8dd27526ae310059b9bf0e1d5e9d2b">TStereoSystemParams</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a3d8dd27526ae310059b9bf0e1d5e9d2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a48968def1d9ce81498f6a99ad66b74aa">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#a48968def1d9ce81498f6a99ad66b74aa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a68edc1a72ba4c70677fa4ebafe646ee2">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#a68edc1a72ba4c70677fa4ebafe646ee2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635">loadFromConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. <a href="#a1ce8e0f241fe85f78095e23d37b2b635"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28">saveToConfigFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method saves the options to a ".ini"-like file or memory-stored string list. <a href="#a913c3433af4564cedeb25e24ace1cf28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8">saveToConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. <a href="#aa059b0160ed9881c284bcea9a42c51f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a37c6d8d52b1d9bdacaf073e6910bdd7f">dumpToConsole</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12">TUnc_Prop_Method</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a4152885bffa0b883f23125fd15999d1f">uncPropagation</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#adc0d8253a024468fb4d15b2207b7e26b">F</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Stereo Fundamental matrix. <a href="#adc0d8253a024468fb4d15b2207b7e26b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a7205ec592fd506c42d9f6dd1455e5b8f">K</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Intrinsic parameters. <a href="#a7205ec592fd506c42d9f6dd1455e5b8f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#af0fffd9658897530fa1fbeade354a102">baseline</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Baseline. <a href="#af0fffd9658897530fa1fbeade354a102"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#ab541a86e63fe3ea6f9bec9c883594822">stdPixel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Standard deviation of the error in feature detection. <a href="#ab541a86e63fe3ea6f9bec9c883594822"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a8555ef62aada1a79b1183017a115675b">stdDisp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Standard deviation of the error in disparity computation. <a href="#a8555ef62aada1a79b1183017a115675b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a0f3dde4aa45f1d02d4444055b4e3f0da">maxZ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed distance. <a href="#a0f3dde4aa45f1d02d4444055b4e3f0da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#ab16af063dfc099838905f6e2310602f3">minZ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed distance. <a href="#ab16af063dfc099838905f6e2310602f3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#aab405b3cc3bd4ce91b37ead38fb6abb9">maxY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum allowed height. <a href="#aab405b3cc3bd4ce91b37ead38fb6abb9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a43cd4cc290582b7109e5ac88dc79ed15">factor_k</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">K factor for the UT. <a href="#a43cd4cc290582b7109e5ac88dc79ed15"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a088cd9ebea9a555d41ce47150156d687">factor_a</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Alpha factor for SUT. <a href="#a088cd9ebea9a555d41ce47150156d687"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a4bce7cf4cf9ff8aac0859b29eb8360e8">factor_b</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Beta factor for the SUT. <a href="#a4bce7cf4cf9ff8aac0859b29eb8360e8"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a886e9903515fdb12d4f052a7fd582bb6">dumpVar_int</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, int v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. <a href="#a886e9903515fdb12d4f052a7fd582bb6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a18862f2d04fc18dd2c2662331156189f">dumpVar_float</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, float v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ac4ee21d250d3b3574790ceac343a27a9">dumpVar_double</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a63837b199914f55d8f0bd950f598fe14">dumpVar_bool</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, bool v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a60b1c6599953f1d593e6a7b0421e5a77">dumpVar_string</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, const <a class="el" href="classstd_1_1string.html">std::string</a> &v)</td></tr>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a74f759c8c5008d295b9d3360039eaa12"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::TUnc_Prop_Method" ref="a74f759c8c5008d295b9d3360039eaa12" args="" -->
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<td class="memname">enum <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12">mrpt::vision::TStereoSystemParams::TUnc_Prop_Method</a></td>
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<p>Method for propagating the feature's image coordinate uncertainty into 3D space. </p>
<p>Default value: Prop_Linear </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a74f759c8c5008d295b9d3360039eaa12a5514c5212e07f9b73af9b3a99913c02b"></a><!-- doxytag: member="Prop_Linear" ref="a74f759c8c5008d295b9d3360039eaa12a5514c5212e07f9b73af9b3a99913c02b" args="" -->Prop_Linear</em> </td><td>
<p>Linear propagation of the uncertainty. </p>
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<tr><td valign="top"><em><a class="anchor" id="a74f759c8c5008d295b9d3360039eaa12ae9249a778142858d54b92832ffbc7683"></a><!-- doxytag: member="Prop_UT" ref="a74f759c8c5008d295b9d3360039eaa12ae9249a778142858d54b92832ffbc7683" args="" -->Prop_UT</em> </td><td>
<p>Uncertainty propagation through the Unscented Transformation. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a74f759c8c5008d295b9d3360039eaa12ae479deae88cf7201cba7f1e8f9deda01"></a><!-- doxytag: member="Prop_SUT" ref="a74f759c8c5008d295b9d3360039eaa12ae479deae88cf7201cba7f1e8f9deda01" args="" -->Prop_SUT</em> </td><td>
<p>Uncertainty propagation through the Scaled Unscented Transformation. </p>
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<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00218">218</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
</div>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a3d8dd27526ae310059b9bf0e1d5e9d2b"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::TStereoSystemParams" ref="a3d8dd27526ae310059b9bf0e1d5e9d2b" args="()" -->
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<td class="memname">mrpt::vision::TStereoSystemParams::TStereoSystemParams </td>
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<p>Initilization of default parameters. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
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<td> const<code> [inherited]</code></td>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
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<a class="anchor" id="a68edc1a72ba4c70677fa4ebafe646ee2"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpToTextStream" ref="a68edc1a72ba4c70677fa4ebafe646ee2" args="(CStream &out) const " -->
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<td class="memname">void mrpt::vision::TStereoSystemParams::dumpToTextStream </td>
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<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
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<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
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<td class="paramtype">const char * </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<td class="paramname"><em>varName</em>, </td>
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<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
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<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
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<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
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<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
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<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a48968def1d9ce81498f6a99ad66b74aa"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::loadFromConfigFile" ref="a48968def1d9ce81498f6a99ad66b74aa" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::vision::TStereoSystemParams::loadFromConfigFile </td>
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<td></td><td><code> [virtual]</code></td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
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<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
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<p>Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a> </dd></dl>
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<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
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<p>This method saves the options to a ".ini"-like file or memory-stored string list. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8" title="Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile obje...">saveToConfigFileName</a> </dd></dl>
<p>Reimplemented in <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#ab41c594d4e248ace4a2b6c7e4d082a1c">mrpt::vision::TMultiResDescOptions</a>, and <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#a0ddc0e48338f1c420ed1e9a34d106865">mrpt::vision::TMultiResDescMatchOptions</a>.</p>
<p>Definition at line <a class="el" href="_c_loadable_options_8h_source.html#l00087">87</a> of file <a class="el" href="_c_loadable_options_8h_source.html">CLoadableOptions.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<p>Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28" title="This method saves the options to a ".ini"-like file or memory-stored string list.">saveToConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635" title="Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile ob...">loadFromConfigFileName</a> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="af0fffd9658897530fa1fbeade354a102"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::baseline" ref="af0fffd9658897530fa1fbeade354a102" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#af0fffd9658897530fa1fbeade354a102">mrpt::vision::TStereoSystemParams::baseline</a></td>
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<p>Baseline. </p>
<p>Default value: baseline = 0.119f; [Bumblebee] </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00241">241</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="adc0d8253a024468fb4d15b2207b7e26b"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::F" ref="adc0d8253a024468fb4d15b2207b7e26b" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#adc0d8253a024468fb4d15b2207b7e26b">mrpt::vision::TStereoSystemParams::F</a></td>
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<p>Stereo Fundamental matrix. </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00234">234</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a088cd9ebea9a555d41ce47150156d687"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::factor_a" ref="a088cd9ebea9a555d41ce47150156d687" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a088cd9ebea9a555d41ce47150156d687">mrpt::vision::TStereoSystemParams::factor_a</a></td>
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<p>Alpha factor for SUT. </p>
<p>Default value: a = 1e-3 </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00262">262</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a4bce7cf4cf9ff8aac0859b29eb8360e8">mrpt::vision::TStereoSystemParams::factor_b</a></td>
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<p>Beta factor for the SUT. </p>
<p>Default value: b = 2.0f </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00265">265</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a43cd4cc290582b7109e5ac88dc79ed15"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::factor_k" ref="a43cd4cc290582b7109e5ac88dc79ed15" args="" -->
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<p>K factor for the UT. </p>
<p>Default value: k = 1.5f </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00259">259</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a7205ec592fd506c42d9f6dd1455e5b8f"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::K" ref="a7205ec592fd506c42d9f6dd1455e5b8f" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a7205ec592fd506c42d9f6dd1455e5b8f">mrpt::vision::TStereoSystemParams::K</a></td>
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<p>Intrinsic parameters. </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00238">238</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="aab405b3cc3bd4ce91b37ead38fb6abb9"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::maxY" ref="aab405b3cc3bd4ce91b37ead38fb6abb9" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#aab405b3cc3bd4ce91b37ead38fb6abb9">mrpt::vision::TStereoSystemParams::maxY</a></td>
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<p>Maximum allowed height. </p>
<p>Default value: maxY = 3.0f </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00256">256</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a0f3dde4aa45f1d02d4444055b4e3f0da">mrpt::vision::TStereoSystemParams::maxZ</a></td>
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<p>Maximum allowed distance. </p>
<p>Default value: maxZ = 20.0f </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00250">250</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#ab16af063dfc099838905f6e2310602f3">mrpt::vision::TStereoSystemParams::minZ</a></td>
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<p>Maximum allowed distance. </p>
<p>Default value: minZ = 0.5f </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00253">253</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a8555ef62aada1a79b1183017a115675b"></a><!-- doxytag: member="mrpt::vision::TStereoSystemParams::stdDisp" ref="a8555ef62aada1a79b1183017a115675b" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a8555ef62aada1a79b1183017a115675b">mrpt::vision::TStereoSystemParams::stdDisp</a></td>
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<p>Standard deviation of the error in disparity computation. </p>
<p>Default value: stdDisp = 1 </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00247">247</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#ab541a86e63fe3ea6f9bec9c883594822">mrpt::vision::TStereoSystemParams::stdPixel</a></td>
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<p>Standard deviation of the error in feature detection. </p>
<p>Default value: stdPixel = 1 </p>
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00244">244</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a74f759c8c5008d295b9d3360039eaa12">TUnc_Prop_Method</a> <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#a4152885bffa0b883f23125fd15999d1f">mrpt::vision::TStereoSystemParams::uncPropagation</a></td>
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<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00231">231</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
