Mercurial Hosting > traffic-intelligence
comparison include/Parameters.hpp @ 507:081a9da6f85b
first version with undistort implemented in the feature tracking process
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 01 May 2014 17:41:10 -0400 |
parents | 13d4eb96a751 82c06ad62254 |
children | 935430b1d408 |
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506:13d4eb96a751 | 507:081a9da6f85b |
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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; |