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Updated default badSignThr parameter

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matlabbe
2015-11-06 14:46:35 -05:00
parent e8bea5cba3
commit 798eb2330b
1 changed files with 2 additions and 2 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -208,7 +208,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size)."); RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size).");
RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)"); RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)");
RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction)."); RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)."); RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM_COND(Kp, NndrRatio, float, RTABMAP_NONFREE, 0.8, 0.9, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)"); RTABMAP_PARAM_COND(Kp, NndrRatio, float, RTABMAP_NONFREE, 0.8, 0.9, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
RTABMAP_PARAM_COND(Kp, DetectorStrategy, int, RTABMAP_NONFREE, 0, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK."); RTABMAP_PARAM_COND(Kp, DetectorStrategy, int, RTABMAP_NONFREE, 0, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood."); RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
@@ -230,7 +230,7 @@ class RTABMAP_EXP Parameters
// Keypoints descriptors/detectors // Keypoints descriptors/detectors
RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)."); 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, HessianThreshold, float, 500.0, "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, 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, 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, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");