| /* |
| * Copyright (C) 2011 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /* $Id: db_utilities_constants.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ |
| |
| #ifndef DB_UTILITIES_CONSTANTS |
| #define DB_UTILITIES_CONSTANTS |
| |
| /***************************************************************** |
| * Lean and mean begins here * |
| *****************************************************************/ |
| |
| /****************Constants********************/ |
| #define DB_E 2.7182818284590452354 |
| #define DB_LOG2E 1.4426950408889634074 |
| #define DB_LOG10E 0.43429448190325182765 |
| #define DB_LN2 0.69314718055994530942 |
| #define DB_LN10 2.30258509299404568402 |
| #define DB_PI 3.1415926535897932384626433832795 |
| #define DB_PI_2 1.57079632679489661923 |
| #define DB_PI_4 0.78539816339744830962 |
| #define DB_1_PI 0.31830988618379067154 |
| #define DB_2_PI 0.63661977236758134308 |
| #define DB_SQRTPI 1.7724538509055160272981674833411 |
| #define DB_SQRT_2PI 2.506628274631000502415765284811 |
| #define DB_2_SQRTPI 1.12837916709551257390 |
| #define DB_SQRT2 1.41421356237309504880 |
| #define DB_SQRT3 1.7320508075688772935274463415059 |
| #define DB_SQRT1_2 0.70710678118654752440 |
| #define DB_EPS 2.220446049250313e-016 /* for 32 bit double */ |
| |
| /****************Default Parameters********************/ |
| /*Preemptive ransac parameters*/ |
| #define DB_DEFAULT_NR_SAMPLES 500 |
| #define DB_DEFAULT_CHUNK_SIZE 100 |
| #define DB_DEFAULT_GROUP_SIZE 10 |
| |
| /*Optimisation parameters*/ |
| #define DB_DEFAULT_MAX_POINTS 1000 |
| #define DB_DEFAULT_MAX_ITERATIONS 25 |
| #define DB_DEFAULT_IMP_REQ 0.001 |
| |
| /*Feature standard deviation parameters*/ |
| #define DB_POINT_STANDARDDEV (1.0/(826.0)) /*1 pixel for CIF (fraction of (image width+image height)/2)*/ |
| #define DB_OUTLIER_THRESHOLD 3.0 /*In number of DB_POINT_STANDARDDEV's*/ |
| #define DB_WORST_CASE 50.0 /*In number of DB_POINT_STANDARDDEV's*/ |
| |
| /*Front-end parameters*/ |
| #define DB_DEFAULT_TARGET_NR_CORNERS 5000 |
| #define DB_DEFAULT_NR_FEATURE_BLOCKS 10 |
| #define DB_DEFAULT_ABS_CORNER_THRESHOLD 50000000.0 |
| #define DB_DEFAULT_REL_CORNER_THRESHOLD 0.00005 |
| #define DB_DEFAULT_MAX_DISPARITY 0.1 |
| #define DB_DEFAULT_NO_DISPARITY -1.0 |
| #define DB_DEFAULT_MAX_TRACK_LENGTH 300 |
| |
| #define DB_DEFAULT_MAX_NR_CAMERAS 1000 |
| |
| #define DB_DEFAULT_TRIPLE_STEP 2 |
| #define DB_DEFAULT_DOUBLE_STEP 2 |
| #define DB_DEFAULT_SINGLE_STEP 1 |
| #define DB_DEFAULT_NR_SINGLES 10 |
| #define DB_DEFAULT_NR_DOUBLES 1 |
| #define DB_DEFAULT_NR_TRIPLES 1 |
| |
| #define DB_DEFAULT_TRIFOCAL_FOUR_STEPS 40 |
| |
| #define DB_DEFAULT_EPIPOLAR_ERROR 1 /*in pixels*/ |
| |
| ////////////////////////// DOXYGEN ///////////////////// |
| |
| /*! |
| * \def DB_DEFAULT_GROUP_SIZE |
| * \ingroup LMRobust |
| * \brief Default group size for db_PreemptiveRansac class. |
| * Group size is the number of observation costs multiplied together |
| * before a log of the product is added to the total cost. |
| */ |
| |
| /*! |
| * \def DB_DEFAULT_TARGET_NR_CORNERS |
| * \ingroup FeatureDetection |
| * \brief Default target number of corners |
| */ |
| /*! |
| * \def DB_DEFAULT_NR_FEATURE_BLOCKS |
| * \ingroup FeatureDetection |
| * \brief Default number of regions (horizontal or vertical) that are considered separately |
| * for feature detection. The greater the number, the more uniform the distribution of |
| * detected features. |
| */ |
| /*! |
| * \def DB_DEFAULT_ABS_CORNER_THRESHOLD |
| * \ingroup FeatureDetection |
| * \brief Absolute feature strength threshold. |
| */ |
| /*! |
| * \def DB_DEFAULT_REL_CORNER_THRESHOLD |
| * \ingroup FeatureDetection |
| * \brief Relative feature strength threshold. |
| */ |
| /*! |
| * \def DB_DEFAULT_MAX_DISPARITY |
| * \ingroup FeatureMatching |
| * \brief Maximum disparity (as fraction of image size) allowed in feature matching |
| */ |
| /*! |
| * \def DB_DEFAULT_NO_DISPARITY |
| * \ingroup FeatureMatching |
| * \brief Indicates that vertical disparity is the same as horizontal disparity. |
| */ |
| /////////////////////////////////////////////////////////////////////////////////// |
| /*! |
| * \def DB_E |
| * \ingroup LMBasicUtilities |
| * \brief e |
| */ |
| /*! |
| * \def DB_LOG2E |
| * \ingroup LMBasicUtilities |
| * \brief log2(e) |
| */ |
| /*! |
| * \def DB_LOG10E |
| * \ingroup LMBasicUtilities |
| * \brief log10(e) |
| */ |
| /*! |
| * \def DB_LOG10E |
| * \ingroup LMBasicUtilities |
| * \brief log10(e) |
| */ |
| /*! |
| * \def DB_LN2 |
| * \ingroup LMBasicUtilities |
| * \brief ln(2) |
| */ |
| /*! |
| * \def DB_LN10 |
| * \ingroup LMBasicUtilities |
| * \brief ln(10) |
| */ |
| /*! |
| * \def DB_PI |
| * \ingroup LMBasicUtilities |
| * \brief Pi |
| */ |
| /*! |
| * \def DB_PI_2 |
| * \ingroup LMBasicUtilities |
| * \brief Pi/2 |
| */ |
| /*! |
| * \def DB_PI_4 |
| * \ingroup LMBasicUtilities |
| * \brief Pi/4 |
| */ |
| /*! |
| * \def DB_1_PI |
| * \ingroup LMBasicUtilities |
| * \brief 1/Pi |
| */ |
| /*! |
| * \def DB_2_PI |
| * \ingroup LMBasicUtilities |
| * \brief 2/Pi |
| */ |
| /*! |
| * \def DB_SQRTPI |
| * \ingroup LMBasicUtilities |
| * \brief sqrt(Pi) |
| */ |
| /*! |
| * \def DB_SQRT_2PI |
| * \ingroup LMBasicUtilities |
| * \brief sqrt(2*Pi) |
| */ |
| /*! |
| * \def DB_SQRT2 |
| * \ingroup LMBasicUtilities |
| * \brief sqrt(2) |
| */ |
| /*! |
| * \def DB_SQRT3 |
| * \ingroup LMBasicUtilities |
| * \brief sqrt(3) |
| */ |
| /*! |
| * \def DB_SQRT1_2 |
| * \ingroup LMBasicUtilities |
| * \brief sqrt(1/2) |
| */ |
| #endif /* DB_UTILITIES_CONSTANTS */ |
| |
| |