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Parameters: added SIFT/RootSIFT parameter.

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matlabbe
2020-05-21 17:09:20 -04:00
parent 013bd0c72a
commit 69a2aacc8e
7 changed files with 60 additions and 8 deletions
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corelib/include/rtabmap/core/Features2d.h
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@@ -276,6 +276,7 @@ private:
double contrastThreshold_;
double edgeThreshold_;
double sigma_;
bool rootSIFT_;
cv::Ptr<CV_SIFT> _sift;
};

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corelib/include/rtabmap/core/Parameters.h
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@@ -281,6 +281,7 @@ class RTABMAP_EXP Parameters
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, "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(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");