Definition at line 403 of file main.hpp.
Public Member Functions |
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virtual void | loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile) |
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virtual void | saveKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile) |
Public Attributes |
| unsigned | CORRECTION_SIZE |
| | MISC.
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| unsigned | MAP_SIZE |
| | FILTER.
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double | PIX_NOISE |
| | measurement noise of a point
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double | PIX_NOISE_SIMUFACTOR |
| | factor of PIX_NOISE used to generate the actual simulation noise
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| double | D_MIN |
| | LANDMARKS.
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double | REPARAM_TH |
| | reparametrization threshold
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unsigned | GRID_HCELLS |
| | number of horizontal cells of the image grid for landmark density control
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unsigned | GRID_VCELLS |
| | number of vertical cells
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unsigned | GRID_MARGIN |
| | min margin of a cell that must be in the image when shifting the grid
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unsigned | GRID_SEPAR |
| | min separation between landmarks in the image for creation (margin with the border of the cell where landmarks can be initialized)
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double | RELEVANCE_TH |
| | relevance threshold to make an update (# of sigmas)
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double | MAHALANOBIS_TH |
| | mahalanobis distance for gating (# of sigmas)
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unsigned | N_UPDATES_TOTAL |
| | max number of landmarks to update every frame
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unsigned | N_UPDATES_RANSAC |
| | max number of landmarks to update with ransac every frame
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unsigned | N_INIT |
| | maximum number of landmarks to try to initialize every frame
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unsigned | N_RECOMP_GAINS |
| | how many times information gain is recomputed to resort observations in active search
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double | RANSAC_LOW_INNOV |
| | ransac low innovation threshold (pixels)
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unsigned | RANSAC_NTRIES |
| | number of base observation used to initialize a ransac set
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bool | MULTIPLE_DEPTH_HYPOS |
| | make multiple depth hypotheses when search ellipses are too big and distortion too strong
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| unsigned | HARRIS_CONV_SIZE |
| | RAW PROCESSING.
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double | HARRIS_TH |
| | harris threshold
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double | HARRIS_EDDGE |
| | harris symmetry factor
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unsigned | DESC_SIZE |
| | descriptor patch size (odd value)
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bool | MULTIVIEW_DESCRIPTOR |
| | whether use or not the multiview descriptor
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double | DESC_SCALE_STEP |
| | MultiviewDescriptor: min change of scale (ratio)
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double | DESC_ANGLE_STEP |
| | MultiviewDescriptor: min change of point of view (deg)
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int | DESC_PREDICTION_TYPE |
| | type of prediction from descriptor (0 = none, 1 = affine, 2 = homographic)
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unsigned | PATCH_SIZE |
| | patch size used for matching
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unsigned | MAX_SEARCH_SIZE |
| | if the search area is larger than this # of pixels, we bound it
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unsigned | KILL_SEARCH_SIZE |
| | if the search area is larger than this # of pixels, we vote for killing the landmark
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double | MATCH_TH |
| | ZNCC score threshold.
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double | MIN_SCORE |
| | min ZNCC score under which we don't finish to compute the value of the score
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double | HI_MATCH_TH |
| | higher ZNCC score threshold for landmarks with high depth uncertainty and high expectation uncertainty
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double | HI_LIMIT |
| | limit in pixels of the expectation uncertainty to use HI_MATCH_TH
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double | PARTIAL_POSITION |
| | position in the patch where we test if we finish the correlation computation
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Private Member Functions |
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void | processKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile, bool read) |
