stereosensormodel is a command line utility which may be used to generate probabilistic sensor models suitable for use with stereo cameras. The result is an xml file which contains a list of figures corresponding to the probably occupied part of the sensor model for each possible disparity value, rising in increments of 0.5 pixels. Each number corresponds to one occupancy grid cell, so this makes updating the grid as easy as possible. The values are obtained by running a simulation of interacting stereo rays.

First ensure that the core libraries are installed:

    sudo dpkg -i sentience-core-x.x.deb

Then install the utility:

    sudo dpkg -i stereosensormodel-x.x.deb

Add the following path to .bashrc within your home directory:

    PATH=$PATH:/usr/bin/sentience/stereosensormodel
    export PATH

To create a sensor model:

    stereosensormodel.exe -filename mymodel.xml -baseline 120 -fov 68 -cellsize 50 -imagewidth 320

baseline is the stereo camera baseline distance in millimetres.

fov is the field of view of the camera in degrees

cellsize is the size of each occupancy grid cell in millimetres

imagewidth is the number of pixels across the images used for stereo ranging

Optionally, integer may also be used if you wish the probability values to be output as integers rather than floating point. This can be useful when creating sensor model lookup tables for embedded systems without an FPU. If this option is used probabilities are quantised into the range 0 - 10000.

Example output:

      <InverseSensorModels>
        <!--Interval between models in pixels-->
        <SensorModelInterval>0.5</SensorModelInterval>
        <!--Model Data-->
        <RayModel>0.0001375456,0.0001365461,0.0001358003,0.0001753809,0.0002188718,0.0002176859,0.0002165098,0.0002153431,0.0002373574,0.0002746011,0.0002731332,0.0002716771,0.0002702326,0.0003098857,0.0004162781,0.0004140823,0.0004119038,0.0004097426,0.0004283889,0.0005090982,0.0005064478,0.000503818,0.0005012086,0.0005232507,0.000741664,0.0007378522,0.00073407,0.0007303168,0.0007265921,0.0008867802,0.0008822805,0.0008778151,0.0008733835,0.0008689854,0.001208599,0.001240667,0.001234467,0.001228312,0.001222204,0.001418346,0.001454113,0.001446935,0.001439811,0.001432738,0.001835154,0.001981108,0.001971447,0.001961858,0.001952338,0.002160932,0.002281009,0.00227002,0.002259111,0.00224828,0.002675883,0.003020916,0.003006536,0.002992259,0.002978083,0.003177836,0.00342358,0.003407477,0.003391484,0.003375605,0.003737688,0.004420358,0.004399805,0.004379396,0.004359129,0.004494514,0.004939274,0.004916572,0.004894028,0.004871638,0.005096107,0.006233292,0.00620497,0.00617684,0.0061489,0.006180095,0.006877619,0.006846721,0.006816031,0.006785543,0.006755261,0.008458048,0.008464802,0.008427278,0.008390003,0.008352974,0.009179792,0.009235201,0.009194712,0.009154486,0.009114525,0.01081927,0.01120741,0.0111588,0.01111051,0.01106254,0.01181328,0.01210393,0.012052,0.01200041,0.01194914,0.01346121,0.01444374,0.01438242,0.01432151,0.01426097,0.01489419,0.01545752,0.01539259,0.01532807,0.01526397,0.01649165,0.01816649,0.01809098,0.01801594,0.01794137,0.01835252,0.01928265,0.01920332,0.01912448,0.01904613,0.01983536,0.02235044,0.02225943,0.02216898,0.02207906,0.02223747,0.02354881,0.02345389,0.02335953,0.02326575,0.02336663</RayModel>
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