Parameters to create a loop detector. More...
#include <TemplatedLoopDetector.h>
Public Member Functions | |
| Parameters () | |
| Parameters (int height, int width, float frequency=1, bool nss=true, float _alpha=0.3, int _k=3, GeometricalCheck geom=GEOM_DI, int dilevels=0) | |
Public Attributes | |
| int | image_rows |
| Height of expected images. | |
| int | image_cols |
| Width of expected images. | |
| bool | use_nss |
| Use normalized similarity score? | |
| float | alpha |
| Alpha threshold. | |
| int | k |
| Min consistent matches to pass the temporal check. | |
| GeometricalCheck | geom_check |
| Geometrical check. | |
| int | di_levels |
| If using direct index for geometrical checking, direct index levels. | |
| int | dislocal |
| Distance between entries to be consider a match. | |
| int | max_db_results |
| Max number of results from db queries to consider. | |
| float | min_nss_factor |
| Min raw score between current entry and previous one to consider a match. | |
| int | min_matches_per_group |
| Min number of close matches to consider some of them. | |
| int | max_intragroup_gap |
| Max separation between matches to consider them of the same group. | |
| int | max_distance_between_groups |
| Max separation between groups of matches to consider them consistent. | |
| int | max_distance_between_queries |
| Max separation between two queries to consider them consistent. | |
| int | min_Fpoints |
| Min number of inliers when computing a fundamental matrix. | |
| int | max_ransac_iterations |
| Max number of iterations of RANSAC. | |
| double | ransac_probability |
| Success probability of RANSAC. | |
| double | max_reprojection_error |
| Max reprojection error of fundamental matrices. | |
| double | max_neighbor_ratio |
| Max value of the neighbour-ratio of accepted correspondences. | |
Parameters to create a loop detector.
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::Parameters::Parameters | ( | ) | [inline] |
Creates parameters by default
| DLoopDetector::TemplatedLoopDetector< TDescriptor, F >::Parameters::Parameters | ( | int | height, | |
| int | width, | |||
| float | frequency = 1, |
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| bool | nss = true, |
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| float | _alpha = 0.3, |
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| int | _k = 3, |
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| GeometricalCheck | geom = GEOM_DI, |
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| int | dilevels = 0 | |||
| ) | [inline] |
Creates parameters by default
| height | image height | |
| width | image width | |
| frequency | set the value of some parameters according to the expected working frequency (Hz) | |
| nss | use normalized similarity score | |
| _alpha | alpha parameter | |
| _k | k parameter (number of temporary consistent matches) | |
| geom | type of geometrical check | |
| dilevels | direct index levels when geom == GEOM_DI |
1.6.3
