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params.py
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params.py
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import cv2
class Params(object):
def __init__(self):
self.pnp_min_measurements = 10
self.pnp_max_iterations = 10
self.init_min_points = 10
self.local_window_size = 10
self.ba_max_iterations = 10
self.min_tracked_points_ratio = 0.5
self.lc_min_inbetween_frames = 10 # frames
self.lc_max_inbetween_distance = 3 # meters
self.lc_embedding_distance = 22.0
self.lc_inliers_threshold = 15
self.lc_inliers_ratio = 0.5
self.lc_distance_threshold = 2 # meters
self.lc_max_iterations = 20
self.ground = False
self.view_camera_size = 1
class ParamsEuroc(Params):
def __init__(self, config='GFTT-BRIEF'):
super().__init__()
if config == 'GFTT-BRIEF':
self.feature_detector = cv2.GFTTDetector_create(
maxCorners=1000, minDistance=15.0,
qualityLevel=0.001, useHarrisDetector=False)
self.descriptor_extractor = cv2.xfeatures2d.BriefDescriptorExtractor_create(
bytes=32, use_orientation=False)
elif config == 'ORB-BRIEF':
self.feature_detector = cv2.ORB_create(
nfeatures=200, scaleFactor=1.2, nlevels=1, edgeThreshold=31)
self.descriptor_extractor = cv2.xfeatures2d.BriefDescriptorExtractor_create(
bytes=32, use_orientation=False)
else:
raise NotImplementedError
self.descriptor_matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=False)
self.matching_cell_size = 15 # pixels
self.matching_neighborhood = 2
self.matching_distance = 25
self.frustum_near = 0.1 # meters
self.frustum_far = 50.0
self.lc_max_inbetween_distance = 4 # meters
self.lc_distance_threshold = 1.5
self.lc_embedding_distance = 22.0
self.view_image_width = 400
self.view_image_height = 250
self.view_camera_width = 0.1
self.view_viewpoint_x = 0
self.view_viewpoint_y = -1
self.view_viewpoint_z = -10
self.view_viewpoint_f = 2000
class ParamsKITTI(Params):
def __init__(self, config='GFTT-BRIEF'):
super().__init__()
if config == 'GFTT-BRIEF':
self.feature_detector = cv2.GFTTDetector_create(
maxCorners=1000, minDistance=12.0,
qualityLevel=0.001, useHarrisDetector=False)
self.descriptor_extractor = cv2.xfeatures2d.BriefDescriptorExtractor_create(
bytes=32, use_orientation=False)
elif config == 'GFTT-BRISK':
self.feature_detector = cv2.GFTTDetector_create(
maxCorners=2000, minDistance=15.0,
qualityLevel=0.01, useHarrisDetector=False)
self.descriptor_extractor = cv2.BRISK_create()
elif config == 'ORB-ORB':
self.feature_detector = cv2.ORB_create(
nfeatures=1000, scaleFactor=1.2, nlevels=1, edgeThreshold=31)
self.descriptor_extractor = self.feature_detector
else:
raise NotImplementedError
self.descriptor_matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=False)
self.matching_cell_size = 15 # pixels
self.matching_neighborhood = 3
self.matching_distance = 30
self.frustum_near = 0.1 # meters
self.frustum_far = 1000.0
self.ground = True
self.lc_max_inbetween_distance = 50
self.lc_distance_threshold = 15
self.lc_embedding_distance = 20.0
self.view_image_width = 400
self.view_image_height = 130
self.view_camera_width = 0.75
self.view_viewpoint_x = 0
self.view_viewpoint_y = -500 # -10
self.view_viewpoint_z = -100 # -0.1
self.view_viewpoint_f = 2000