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Commit 6f41197e authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Update param names in processor VO

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####################################
# ProcessorTracker parameters
####################################
time_tolerance: 0.005 time_tolerance: 0.005
keyframe_vote: keyframe_vote:
...@@ -10,62 +13,69 @@ keyframe_vote: ...@@ -10,62 +13,69 @@ keyframe_vote:
apply_loss_function: false apply_loss_function: false
# Select the best new Keypoints when performing detection # Select the best new Keypoints when performing detection
max_new_features: 30 max_new_features: 10
#################################### ####################################
# ProcessorVisualOdometry parameters # ProcessorVisualOdometry parameters
####################################
#-----------------------------------
# Pre-processor parameters
#-----------------------------------
# Image Equalization methods # Image Equalization methods
# 0: none # 0: none
# 1: average # 1: average
# 2: histogram_equalization # 2: histogram_equalization
# 3: CLAHE = Contrast Limited Adaptive Histogram Equalization, 1-1.5 ms overhead # 3: CLAHE = Contrast Limited Adaptive Histogram Equalization, 1-1.5 ms overhead
equalization_params: equalization:
method: 1 method: 1
average: average:
median: 127 # half of 8 bits = 255/2 = 127.5 --> to integer median: 127 # half of 8 bits = 255/2 = 127.5 --> to integer <-- TODO we could maybe automate this
histogram: histogram:
clahe: clahe:
clip_limit: 2 clip_limit: 2
tile_grid_size: [8,8] tile_grid_size: [8,8]
# FAST KeyPoint detection # FAST KeyPoint detection
fast_params: fast:
# Threshold on the keypoint pixel intensity (in uchar [0-255]) # Threshold on the keypoint pixel intensity (in uchar [0-255])
# the higher, the more selective the detector is # the higher, the more selective the detector is
threshold_fast: 10 threshold: 10
# Avoids getting multiple keypoints at the same place # Avoids getting multiple keypoints at the same place
non_max_suppresion: false non_max_suppresion: false
# Lucas Kanade tracking parameters # Lucas Kanade tracking
klt_params: klt:
patch_width: 21 patch_width: 21
patch_height: 21 patch_height: 21
nlevels_pyramids: 3 nlevels_pyramids: 3
klt_max_err: 0.2 max_err: 0.2
# tesselation grid # Tesselation grid
grid_params: grid:
# number of cells used by the active search grid data structure # number of cells used by the active search grid data structure
nbr_cells_h: 6 # horizontal nbr_cells_h: 8 # horizontal
nbr_cells_v: 6 # vertical nbr_cells_v: 8 # vertical
# minimum margin of the region of interest from the edges of the image # minimum margin of the region of interest from the edges of the image
margin: 10 margin: 10
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
separation: 10 separation: 10
ransac_params: ransac:
# specifies a desirable level of confidence (probability) that the estimated matrix is correct # specifies a desirable level of confidence (probability) that the estimated matrix is correct
ransac_prob: 0.999 prob: 0.999
# maximum distance from a point to an epipolar line in pixels, beyond which the point # maximum distance from a point to an epipolar line in pixels, beyond which the point
# is considered an outlier and is not used for computing the final fundamental matrix # is considered an outlier and is not used for computing the final fundamental matrix
ransac_thresh: 1 thresh: 1
# Keep the number of tracks below #-----------------------------------
max_nb_tracks: 30 # not used currently # Processor parameters
#-----------------------------------
# standard deviation of the pixel reprojection factor # standard deviation of the pixel reprojection factor
std_pix: 2 std_pix: 0.5
# before creating a landmark, wait until the track is old enough # before creating a landmark, wait until the track is old enough
min_track_length_for_landmark: 10 min_track_length_for_landmark: 10
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