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comparison include/Parameters.hpp @ 507:081a9da6f85b

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first version with undistort implemented in the feature tracking process
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 01 May 2014 17:41:10 -0400
parents 13d4eb96a751 82c06ad62254
children 935430b1d408
comparison
equal deleted inserted replaced
506:13d4eb96a751 507:081a9da6f85b
22 std::string homographyFilename; 22 std::string homographyFilename;
23 std::string intrinsicCameraFilename; 23 std::string intrinsicCameraFilename;
24 std::vector<float> distortionCoefficients; 24 std::vector<float> distortionCoefficients;
25 float undistortedImageMultiplication; 25 float undistortedImageMultiplication;
26 std::string maskFilename; 26 std::string maskFilename;
27 bool undistort;
27 bool loadFeatures; 28 bool loadFeatures;
28 bool display; 29 bool display;
29 float videoFPS; 30 float videoFPS;
30 // int measurementPrecision; 31 // int measurementPrecision;
31 unsigned int frame1; 32 unsigned int frame1;
32 int nFrames; 33 int nFrames;
33 // feature tracking 34 // feature tracking
35 /// "Maximum number of corners to return" (OpenCV goodFeaturesToTrack) (should be large enough not to limit the potential number of features)
34 int maxNFeatures; 36 int maxNFeatures;
37 /// "Parameter characterizing the minimal accepted quality of image corners" (OpenCV goodFeaturesToTrack )
35 float featureQuality; 38 float featureQuality;
39 /// "Minimum possible Euclidean distance between the returned corners" (OpenCV goodFeaturesToTrack)
36 float minFeatureDistanceKLT; 40 float minFeatureDistanceKLT;
41 /// "Size of an average block for computing a derivative covariation matrix over each pixel neighborhood" (OpenCV goodFeaturesToTrack)
42 int blockSize;
43 /// "Parameter indicating whether to use a Harris detector" (OpenCV goodFeaturesToTrack)
44 bool useHarrisDetector;
45 /// "Free parameter of the Harris detector" (OpenCV goodFeaturesToTrack)
46 float k;
47 /// "size of the search window at each pyramid level" (OpenCV calcOpticalFlowPyrLK)
37 int windowSize; 48 int windowSize;
38 bool useHarrisDetector; 49 /// "0-based maximal pyramid level number" (OpenCV calcOpticalFlowPyrLK) higher is higher quality
39 float k;
40 int pyramidLevel; 50 int pyramidLevel;
51 /// Number of displacements (number of frames-1) over which minimum motion is computed
41 unsigned int nDisplacements; 52 unsigned int nDisplacements;
53 /// Minimum displacement per frame (in world space) to keep features
42 float minFeatureDisplacement; 54 float minFeatureDisplacement;
55 /// Maximum feature acceleration
43 float accelerationBound; 56 float accelerationBound;
57 /// Maximum feature deviation
44 float deviationBound; 58 float deviationBound;
59 /// Number of frames to smooth positions (half window)
45 int nFramesSmoothing; 60 int nFramesSmoothing;
46 //int nFramesVelocity; 61 //int nFramesVelocity;
62 /// Maximum number of iterations to stop optical flow (OpenCV calcOpticalFlowPyrLK)
47 int maxNumberTrackingIterations; 63 int maxNumberTrackingIterations;
64 /// Minimum error to reach to stop optical flow (OpenCV calcOpticalFlowPyrLK)
48 float minTrackingError; 65 float minTrackingError;
66 /// Minimum eigen value of a 2x2 normal matrix of optical flow equations (OpenCV calcOpticalFlowPyrLK)
49 float minFeatureEigThreshold; 67 float minFeatureEigThreshold;
68 /// Minimum length of a feature (number of frames) to consider a feature for grouping
50 unsigned int minFeatureTime; 69 unsigned int minFeatureTime;
70 /// Connection distance in feature grouping (in world space)
51 float mmConnectionDistance; 71 float mmConnectionDistance;
72 /// Segmentation distance in feature grouping (in world space)
52 float mmSegmentationDistance; 73 float mmSegmentationDistance;
74 /// Maximum distance between features for grouping (in world space) (unused)
53 float maxDistance; 75 float maxDistance;
76 /// Minimum cosine of the angle between the velocity vectors for grouping (unused)
54 float minVelocityCosine; 77 float minVelocityCosine;
78 /// Minimum average number of features per frame to create a vehicle hypothesis
55 float minNFeaturesPerGroup; 79 float minNFeaturesPerGroup;
56 // safety analysis 80 // safety analysis
57 float maxPredictedSpeed; 81 float maxPredictedSpeed;
58 float predictionTimeHorizon; 82 float predictionTimeHorizon;
59 float collisionDistance; 83 float collisionDistance;