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mobile_robotics
wolf_projects
wolf_ros
demos
wolf_demo_visual_odometry
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6f41197e
Commit
6f41197e
authored
3 years ago
by
Joan Solà Ortega
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Update param names in processor VO
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852d7263
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yaml/processor_visual_odometry.yaml
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6f41197e
####################################
# 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
:
3
0
max_new_features
:
1
0
####################################
####################################
# 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
#
t
esselation grid
#
T
esselation 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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