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Updated default parameters: GFTT/MinDistance=5 pixels, GFTT/QualityLevel=0.001 Vis/PnPReprojError=2 pixels

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matlabbe
2016-01-13 11:53:55 -05:00
parent 136867253d
commit 3293906677
1 changed files with 3 additions and 3 deletions
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6
corelib/include/rtabmap/core/Parameters.h
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@@ -261,8 +261,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(FAST, GridRows, int, 4, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(FAST, GridCols, int, 4, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.002, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 10, "");
RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
RTABMAP_PARAM(GFTT, MinDistance, double, 5, "");
RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
RTABMAP_PARAM(GFTT, K, double, 0.04, "");
@@ -369,7 +369,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, "[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.");
RTABMAP_PARAM(Vis, RefineIterations, int, 10, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, PnPReprojError, float, 5.0, "[Vis/EstimationType = 1] PnP reprojection error.");
RTABMAP_PARAM(Vis, PnPReprojError, float, 2.0, "[Vis/EstimationType = 1] PnP reprojection error.");
RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, "[Vis/EstimationType = 1] Refine iterations.");
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");