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added description to SURF and SIFT parameters

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1657 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-08-19 19:59:02 +00:00
parent e460cb592f
commit 0f4d771160
1 changed files with 12 additions and 12 deletions
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24
corelib/include/rtabmap/core/Parameters.h
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@@ -181,19 +181,19 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(DbSqlite3, TempStore, int, 2, "0=DEFAULT, 1=FILE, 2=MEMORY (see sqlite3 doc : \"PRAGMA temp_store\")");
// Keypoints descriptors/detectors
RTABMAP_PARAM(SURF, Extended, bool, false, "true=128, false=64.");
RTABMAP_PARAM(SURF, HessianThreshold, float, 150.0, "");
RTABMAP_PARAM(SURF, Octaves, int, 4, "");
RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "");
RTABMAP_PARAM(SURF, Upright, bool, false, "U-SURF");
RTABMAP_PARAM(SURF, GpuVersion, bool, false, "");
RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "");
RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
RTABMAP_PARAM(SURF, HessianThreshold, float, 150.0, "Threshold for hessian keypoint detector used in SURF.");
RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
RTABMAP_PARAM(SURF, GpuVersion, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
RTABMAP_PARAM(SIFT, NFeatures, int, 0, "");
RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "");
RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, "");
RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10.0, "");
RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "");
RTABMAP_PARAM(SIFT, NFeatures, int, 0, "The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast).");
RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.");
RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10.0, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");