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Ivan
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src/util/settings.cpp
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314
src/util/settings.cpp
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/**
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* This file is part of DSO.
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*
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* Copyright 2016 Technical University of Munich and Intel.
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* Developed by Jakob Engel <engelj at in dot tum dot de>,
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* for more information see <http://vision.in.tum.de/dso>.
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* If you use this code, please cite the respective publications as
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* listed on the above website.
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*
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* DSO is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* DSO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with DSO. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "util/settings.h"
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#include <boost/bind.hpp>
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namespace dso
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{
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int pyrLevelsUsed = PYR_LEVELS;
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/* Parameters controlling when KF's are taken */
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float setting_keyframesPerSecond = 0; // if !=0, takes a fixed number of KF per second.
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bool setting_realTimeMaxKF = false; // if true, takes as many KF's as possible (will break the system if the camera stays stationary)
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float setting_maxShiftWeightT= 0.04f * (640+480);
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float setting_maxShiftWeightR= 0.0f * (640+480);
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float setting_maxShiftWeightRT= 0.02f * (640+480);
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float setting_kfGlobalWeight = 1; // general weight on threshold, the larger the more KF's are taken (e.g., 2 = double the amount of KF's).
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float setting_maxAffineWeight= 2;
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/* initial hessian values to fix unobservable dimensions / priors on affine lighting parameters.
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*/
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float setting_idepthFixPrior = 50*50;
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float setting_idepthFixPriorMargFac = 600*600;
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float setting_initialRotPrior = 1e11;
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float setting_initialTransPrior = 1e10;
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float setting_initialAffBPrior = 1e14;
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float setting_initialAffAPrior = 1e14;
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float setting_initialCalibHessian = 5e9;
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/* some modes for solving the resulting linear system (e.g. orthogonalize wrt. unobservable dimensions) */
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int setting_solverMode = SOLVER_FIX_LAMBDA | SOLVER_ORTHOGONALIZE_X_LATER;
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double setting_solverModeDelta = 0.00001;
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bool setting_forceAceptStep = true;
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/* some thresholds on when to activate / marginalize points */
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float setting_minIdepthH_act = 100;
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float setting_minIdepthH_marg = 50;
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float setting_desiredImmatureDensity = 1500; // immature points per frame
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float setting_desiredPointDensity = 2000; // aimed total points in the active window.
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float setting_minPointsRemaining = 0.05; // marg a frame if less than X% points remain.
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float setting_maxLogAffFacInWindow = 0.7; // marg a frame if factor between intensities to current frame is larger than 1/X or X.
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int setting_minFrames = 5; // min frames in window.
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int setting_maxFrames = 7; // max frames in window.
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int setting_minFrameAge = 1;
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int setting_maxOptIterations=6; // max GN iterations.
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int setting_minOptIterations=1; // min GN iterations.
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float setting_thOptIterations=1.2; // factor on break threshold for GN iteration (larger = break earlier)
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/* Outlier Threshold on photometric energy */
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float setting_outlierTH = 12*12; // higher -> less strict
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float setting_outlierTHSumComponent = 50*50; // higher -> less strong gradient-based reweighting .
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int setting_pattern = 8; // point pattern used. DISABLED.
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float setting_margWeightFac = 0.5*0.5; // factor on hessian when marginalizing, to account for inaccurate linearization points.
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/* when to re-track a frame */
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float setting_reTrackThreshold = 1.5; // (larger = re-track more often)
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/* require some minimum number of residuals for a point to become valid */
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int setting_minGoodActiveResForMarg=3;
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int setting_minGoodResForMarg=4;
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// 0 = nothing.
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// 1 = apply inv. response.
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// 2 = apply inv. response & remove V.
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int setting_photometricCalibration = 2;
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bool setting_useExposure = true;
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float setting_affineOptModeA = 1e12; //-1: fix. >=0: optimize (with prior, if > 0).
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float setting_affineOptModeB = 1e8; //-1: fix. >=0: optimize (with prior, if > 0).
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int setting_gammaWeightsPixelSelect = 1; // 1 = use original intensity for pixel selection; 0 = use gamma-corrected intensity.
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float setting_huberTH = 9; // Huber Threshold
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// parameters controlling adaptive energy threshold computation.
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float setting_frameEnergyTHConstWeight = 0.5;
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float setting_frameEnergyTHN = 0.7f;
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float setting_frameEnergyTHFacMedian = 1.5;
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float setting_overallEnergyTHWeight = 1;
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float setting_coarseCutoffTH = 20;
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// parameters controlling pixel selection
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float setting_minGradHistCut = 0.5;
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float setting_minGradHistAdd = 7;
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float setting_gradDownweightPerLevel = 0.75;
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bool setting_selectDirectionDistribution = true;
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/* settings controling initial immature point tracking */
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float setting_maxPixSearch = 0.027; // max length of the ep. line segment searched during immature point tracking. relative to image resolution.
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float setting_minTraceQuality = 3;
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int setting_minTraceTestRadius = 2;
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int setting_GNItsOnPointActivation = 3;
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float setting_trace_stepsize = 1.0; // stepsize for initial discrete search.
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int setting_trace_GNIterations = 3; // max # GN iterations
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float setting_trace_GNThreshold = 0.1; // GN stop after this stepsize.
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float setting_trace_extraSlackOnTH = 1.2; // for energy-based outlier check, be slightly more relaxed by this factor.
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float setting_trace_slackInterval = 1.5; // if pixel-interval is smaller than this, leave it be.
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float setting_trace_minImprovementFactor = 2; // if pixel-interval is smaller than this, leave it be.
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// for benchmarking different undistortion settings
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float benchmarkSetting_fxfyfac = 0;
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int benchmarkSetting_width = 0;
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int benchmarkSetting_height = 0;
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float benchmark_varNoise = 0;
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float benchmark_varBlurNoise = 0;
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float benchmark_initializerSlackFactor = 1;
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int benchmark_noiseGridsize = 3;
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float freeDebugParam1 = 1;
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float freeDebugParam2 = 1;
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float freeDebugParam3 = 1;
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float freeDebugParam4 = 1;
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float freeDebugParam5 = 1;
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bool disableReconfigure=false;
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bool debugSaveImages = false;
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bool multiThreading = true;
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bool disableAllDisplay = false;
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bool setting_onlyLogKFPoses = true;
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bool setting_logStuff = true;
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bool goStepByStep = false;
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bool setting_render_displayCoarseTrackingFull=false;
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bool setting_render_renderWindowFrames=true;
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bool setting_render_plotTrackingFull = false;
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bool setting_render_display3D = true;
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bool setting_render_displayResidual = true;
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bool setting_render_displayVideo = true;
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bool setting_render_displayDepth = true;
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bool setting_fullResetRequested = false;
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bool setting_debugout_runquiet = false;
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int sparsityFactor = 5; // not actually a setting, only some legacy stuff for coarse initializer.
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void handleKey(char k)
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{
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char kkk = k;
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switch(kkk)
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{
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case 'd': case 'D':
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freeDebugParam5 = ((int)(freeDebugParam5+1))%10;
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printf("new freeDebugParam5: %f!\n", freeDebugParam5);
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break;
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case 's': case 'S':
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freeDebugParam5 = ((int)(freeDebugParam5-1+10))%10;
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printf("new freeDebugParam5: %f!\n", freeDebugParam5);
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break;
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}
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}
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int staticPattern[10][40][2] = {
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{{0,0}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, // .
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{0,-1}, {-1,0}, {0,0}, {1,0}, {0,1}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, // +
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{-1,-1}, {1,1}, {0,0}, {-1,1}, {1,-1}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, // x
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{-1,-1}, {-1,0}, {-1,1}, {-1,0}, {0,0}, {0,1}, {1,-1}, {1,0}, {1,1}, {-100,-100}, // full-tight
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{0,-2}, {-1,-1}, {1,-1}, {-2,0}, {0,0}, {2,0}, {-1,1}, {1,1}, {0,2}, {-100,-100}, // full-spread-9
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{0,-2}, {-1,-1}, {1,-1}, {-2,0}, {0,0}, {2,0}, {-1,1}, {1,1}, {0,2}, {-2,-2}, // full-spread-13
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{-2,2}, {2,-2}, {2,2}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{-2,-2}, {-2,-1}, {-2,-0}, {-2,1}, {-2,2}, {-1,-2}, {-1,-1}, {-1,-0}, {-1,1}, {-1,2}, // full-25
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{-0,-2}, {-0,-1}, {-0,-0}, {-0,1}, {-0,2}, {+1,-2}, {+1,-1}, {+1,-0}, {+1,1}, {+1,2},
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{+2,-2}, {+2,-1}, {+2,-0}, {+2,1}, {+2,2}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{0,-2}, {-1,-1}, {1,-1}, {-2,0}, {0,0}, {2,0}, {-1,1}, {1,1}, {0,2}, {-2,-2}, // full-spread-21
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{-2,2}, {2,-2}, {2,2}, {-3,-1}, {-3,1}, {3,-1}, {3,1}, {1,-3}, {-1,-3}, {1,3},
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{-1,3}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{0,-2}, {-1,-1}, {1,-1}, {-2,0}, {0,0}, {2,0}, {-1,1}, {0,2}, {-100,-100}, {-100,-100}, // 8 for SSE efficiency
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100},
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{-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}, {-100,-100}},
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{{-4,-4}, {-4,-2}, {-4,-0}, {-4,2}, {-4,4}, {-2,-4}, {-2,-2}, {-2,-0}, {-2,2}, {-2,4}, // full-45-SPREAD
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{-0,-4}, {-0,-2}, {-0,-0}, {-0,2}, {-0,4}, {+2,-4}, {+2,-2}, {+2,-0}, {+2,2}, {+2,4},
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{+4,-4}, {+4,-2}, {+4,-0}, {+4,2}, {+4,4}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200},
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{-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}, {-200,-200}},
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};
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int staticPatternNum[10] = {
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1,
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5,
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5,
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9,
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9,
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13,
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25,
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21,
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8,
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25
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};
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int staticPatternPadding[10] = {
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1,
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1,
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1,
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1,
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2,
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2,
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2,
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3,
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2,
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4
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};
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}
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