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config.yaml
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#pipeline_type: "video"
##file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/cubo/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/pasta_short/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/pasta_medium/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/sala/720_30.mp4"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/modulo_ms/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/modulo/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_2/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_3/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_4/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_5/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_6/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_7/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/elefante_8/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/sala_2/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/sala_3/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/sala_4/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/quarto_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/pato_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/pato_2/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/ovelha_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/telefone_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/mesa_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/mesa_2/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/mesa_3/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_1/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_2/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_3/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_4/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_5/720_30.m4v"
#file_path: "/Users/felipemoran/Dropbox/Poli/TCC/datasets/estatua_6/720_30.m4v"
pipeline_type: "synthetic"
#file_path: "1"
#file_path: "2"
file_path: "3"
synthetic_config:
noise_covariance: 5
number_of_cameras: 2500
case_3:
radius: 5
number_of_cameras: 50
step_size: 0.5
x_points: 5
y_points: 5
z_points: 4
camera_matrix: &camera_matrix [
[765.16859169, 0.0, 379.11876567],
[0.0, 762.38664643, 497.22086655],
[0.0, 0.0, 1.0],
]
use_five_pt_algorithm: false
use_solve_pnp: true
use_reconstruct_tracks: true
klt:
calculate_every_frame: true
display_klt_debug_frames: true
klt_debug_frames_delay: 1
frames_to_skip: 1
reset_period: 1
closeness_threshold: 15
max_features: 100
corner_selection:
quality_level: 0.5
min_distance: 15
block_size: 10
optical_flow:
window_size:
width: 15
height: 15
max_level: 3
criteria:
# original: (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03)
# where cv2.TERM_CRITERIA_EPS = 2 and cv2.TERM_CRITERIA_COUNT = 1
criteria_sum: 3
max_iter: 30
eps: 0.003
error_calculation:
period: 1
window_length: 1
online_calculation: True
post_calculation: True
bundle_adjustment:
tol: 1e-2
method: "trf"
verbose: 0
camera_matrix: *camera_matrix
use_with_rolling_window: false
rolling_window:
method: growing_step
period: 1 # in number of processed frame
length: 10 # number of frames in the window taking step into account
step: 1 # step=N means taking 1 every N frames
# rolling_window:
# method: constant_step
# period: 5 # in number of processed frame
# length: 10 # number of frames in the window taking step into account
# step: 1 # step=N means taking 1 every N frames
use_at_end: true
five_pt_algorithm:
min_number_of_points: 6
essential_mat_threshold: 5
ransac_probability: 0.999999
refine_matches_repetitions: 1
save_optimized_projections: false
camera_matrix: *camera_matrix
distance_threshold: 500
solve_pnp:
min_number_of_points: 5
camera_matrix: *camera_matrix
use_epnp: true
use_iterative_pnp: true
init:
error_threshold: 50
num_reconstruction_frames: 5
num_error_calculation_frames: 5