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comparison include/Parameters.hpp @ 495:82c06ad62254

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added parameter description with ranges A parameter was added (block size) that used to be the same as window size
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 01 May 2014 11:08:26 -0400
parents 17c5f378c283
children 081a9da6f85b
comparison
equal deleted inserted replaced
493:850ed17c7b2f 495:82c06ad62254
25 float videoFPS; 25 float videoFPS;
26 // int measurementPrecision; 26 // int measurementPrecision;
27 unsigned int frame1; 27 unsigned int frame1;
28 int nFrames; 28 int nFrames;
29 // feature tracking 29 // feature tracking
30 /// "Maximum number of corners to return" (OpenCV goodFeaturesToTrack) (should be large enough not to limit the potential number of features)
30 int maxNFeatures; 31 int maxNFeatures;
32 /// "Parameter characterizing the minimal accepted quality of image corners" (OpenCV goodFeaturesToTrack )
31 float featureQuality; 33 float featureQuality;
34 /// "Minimum possible Euclidean distance between the returned corners" (OpenCV goodFeaturesToTrack)
32 float minFeatureDistanceKLT; 35 float minFeatureDistanceKLT;
36 /// "Size of an average block for computing a derivative covariation matrix over each pixel neighborhood" (OpenCV goodFeaturesToTrack)
37 int blockSize;
38 /// "Parameter indicating whether to use a Harris detector" (OpenCV goodFeaturesToTrack)
39 bool useHarrisDetector;
40 /// "Free parameter of the Harris detector" (OpenCV goodFeaturesToTrack)
41 float k;
42 /// "size of the search window at each pyramid level" (OpenCV calcOpticalFlowPyrLK)
33 int windowSize; 43 int windowSize;
34 bool useHarrisDetector; 44 /// "0-based maximal pyramid level number" (OpenCV calcOpticalFlowPyrLK) higher is higher quality
35 float k;
36 int pyramidLevel; 45 int pyramidLevel;
46 /// Number of displacements (number of frames-1) over which minimum motion is computed
37 unsigned int nDisplacements; 47 unsigned int nDisplacements;
48 /// Minimum displacement per frame (in world space) to keep features
38 float minFeatureDisplacement; 49 float minFeatureDisplacement;
50 /// Maximum feature acceleration
39 float accelerationBound; 51 float accelerationBound;
52 /// Maximum feature deviation
40 float deviationBound; 53 float deviationBound;
54 /// Number of frames to smooth positions (half window)
41 int nFramesSmoothing; 55 int nFramesSmoothing;
42 //int nFramesVelocity; 56 //int nFramesVelocity;
57 /// Maximum number of iterations to stop optical flow (OpenCV calcOpticalFlowPyrLK)
43 int maxNumberTrackingIterations; 58 int maxNumberTrackingIterations;
59 /// Minimum error to reach to stop optical flow (OpenCV calcOpticalFlowPyrLK)
44 float minTrackingError; 60 float minTrackingError;
61 /// Minimum eigen value of a 2x2 normal matrix of optical flow equations (OpenCV calcOpticalFlowPyrLK)
45 float minFeatureEigThreshold; 62 float minFeatureEigThreshold;
63 /// Minimum length of a feature (number of frames) to consider a feature for grouping
46 unsigned int minFeatureTime; 64 unsigned int minFeatureTime;
65 /// Connection distance in feature grouping (in world space)
47 float mmConnectionDistance; 66 float mmConnectionDistance;
67 /// Segmentation distance in feature grouping (in world space)
48 float mmSegmentationDistance; 68 float mmSegmentationDistance;
69 /// Maximum distance between features for grouping (in world space) (unused)
49 float maxDistance; 70 float maxDistance;
71 /// Minimum cosine of the angle between the velocity vectors for grouping (unused)
50 float minVelocityCosine; 72 float minVelocityCosine;
73 /// Minimum average number of features per frame to create a vehicle hypothesis
51 float minNFeaturesPerGroup; 74 float minNFeaturesPerGroup;
52 // safety analysis 75 // safety analysis
53 float maxPredictedSpeed; 76 float maxPredictedSpeed;
54 float predictionTimeHorizon; 77 float predictionTimeHorizon;
55 float collisionDistance; 78 float collisionDistance;