svo::Config Class Reference

Global configuration file of SVO. More...

#include <config.h>

List of all members.

Static Public Member Functions
static Config &	getInstance ()
static string &	traceName ()
	Base-name of the tracefiles.
static string &	traceDir ()
	Directory where the tracefiles are saved.
static size_t &	nPyrLevels ()
	Number of pyramid levels used for features.
static bool &	useImu ()
	Use the IMU to get relative rotations.
static size_t &	coreNKfs ()
	Number of keyframes in the core. The core-kfs are optimized through bundle adjustment.
static double &	mapScale ()
	Initial scale of the map. Depends on the distance the camera is moved for the initialization.
static size_t &	gridSize ()
	Feature grid size of a cell in [px].
static double &	initMinDisparity ()
	Initialization: Minimum required disparity between the first two frames.
static size_t &	initMinTracked ()
	Initialization: Minimum number of tracked features.
static size_t &	initMinInliers ()
	Initialization: Minimum number of inliers after RANSAC.
static size_t &	kltMaxLevel ()
	Maximum level of the Lucas Kanade tracker.
static size_t &	kltMinLevel ()
	Minimum level of the Lucas Kanade tracker.
static double &	reprojThresh ()
	Reprojection threshold [px].
static double &	poseOptimThresh ()
	Reprojection threshold after pose optimization.
static size_t &	poseOptimNumIter ()
	Number of iterations in local bundle adjustment.
static size_t &	structureOptimMaxPts ()
	Maximum number of points to optimize at every iteration.
static size_t &	structureOptimNumIter ()
	Number of iterations in structure optimization.
static double &	lobaThresh ()
	Reprojection threshold after bundle adjustment.
static double &	lobaRobustHuberWidth ()
	Threshold for the robust Huber kernel of the local bundle adjustment.
static size_t &	lobaNumIter ()
	Number of iterations in the local bundle adjustment.
static double &	kfSelectMinDist ()
	Minimum distance between two keyframes. Relative to the average height in the map.
static double &	triangMinCornerScore ()
	Select only features with a minimum Harris corner score for triangulation.
static size_t &	subpixNIter ()
	Subpixel refinement of reprojection and triangulation. Set to 0 if no subpix refinement required!
static size_t &	maxNKfs ()
	Limit the number of keyframes in the map.
static double &	imgImuDelay ()
	How much (in milliseconds) is the camera delayed with respect to the imu.
static size_t &	maxFts ()
	Maximum number of features that should be tracked.
static size_t &	qualityMinFts ()
	If the number of tracked features drops below this threshold. Tracking quality is bad.
static int &	qualityMaxFtsDrop ()
	If within one frame, this amount of features are dropped. Tracking quality is bad.
Private Member Functions
	Config ()
	Config (Config const &)
void	operator= (Config const &)
Private Attributes
string	trace_name
string	trace_dir
size_t	n_pyr_levels
bool	use_imu
size_t	core_n_kfs
double	map_scale
size_t	grid_size
double	init_min_disparity
size_t	init_min_tracked
size_t	init_min_inliers
size_t	klt_max_level
size_t	klt_min_level
double	reproj_thresh
double	poseoptim_thresh
size_t	poseoptim_num_iter
size_t	structureoptim_max_pts
size_t	structureoptim_num_iter
double	loba_thresh
double	loba_robust_huber_width
size_t	loba_num_iter
double	kfselect_mindist
double	triang_min_corner_score
size_t	triang_half_patch_size
size_t	subpix_n_iter
size_t	max_n_kfs
double	img_imu_delay
size_t	max_fts
size_t	quality_min_fts
int	quality_max_drop_fts

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Detailed Description

Global configuration file of SVO.

Implements the Singleton design pattern to allow global access and to ensure that only one instance exists.

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Constructor & Destructor Documentation

svo::Config::Config

(

)

[private]

svo::Config::Config

(

Config const &

)

[private]

---

Member Function Documentation

static size_t& svo::Config::coreNKfs

(

)

[inline, static]

Number of keyframes in the core. The core-kfs are optimized through bundle adjustment.

static Config& svo::Config::getInstance

(

)

[static]

static size_t& svo::Config::gridSize

(

)

[inline, static]

Feature grid size of a cell in [px].

static double& svo::Config::imgImuDelay

(

)

[inline, static]

How much (in milliseconds) is the camera delayed with respect to the imu.

static double& svo::Config::initMinDisparity

(

)

[inline, static]

Initialization: Minimum required disparity between the first two frames.

static size_t& svo::Config::initMinInliers

(

)

[inline, static]

Initialization: Minimum number of inliers after RANSAC.

static size_t& svo::Config::initMinTracked

(

)

[inline, static]

Initialization: Minimum number of tracked features.

static double& svo::Config::kfSelectMinDist

(

)

[inline, static]

Minimum distance between two keyframes. Relative to the average height in the map.

static size_t& svo::Config::kltMaxLevel

(

)

[inline, static]

Maximum level of the Lucas Kanade tracker.

static size_t& svo::Config::kltMinLevel

(

)

[inline, static]

Minimum level of the Lucas Kanade tracker.

static size_t& svo::Config::lobaNumIter

(

)

[inline, static]

Number of iterations in the local bundle adjustment.

static double& svo::Config::lobaRobustHuberWidth

(

)

[inline, static]

Threshold for the robust Huber kernel of the local bundle adjustment.

static double& svo::Config::lobaThresh

(

)

[inline, static]

Reprojection threshold after bundle adjustment.

static double& svo::Config::mapScale

(

)

[inline, static]

Initial scale of the map. Depends on the distance the camera is moved for the initialization.

static size_t& svo::Config::maxFts

(

)

[inline, static]

Maximum number of features that should be tracked.

static size_t& svo::Config::maxNKfs

(

)

[inline, static]

Limit the number of keyframes in the map.

This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3.

static size_t& svo::Config::nPyrLevels

(

)

[inline, static]

Number of pyramid levels used for features.

void svo::Config::operator=

(

Config const &

)

[private]

static size_t& svo::Config::poseOptimNumIter

(

)

[inline, static]

Number of iterations in local bundle adjustment.

static double& svo::Config::poseOptimThresh

(

)

[inline, static]

Reprojection threshold after pose optimization.

static int& svo::Config::qualityMaxFtsDrop

(

)

[inline, static]

If within one frame, this amount of features are dropped. Tracking quality is bad.

static size_t& svo::Config::qualityMinFts

(

)

[inline, static]

If the number of tracked features drops below this threshold. Tracking quality is bad.

static double& svo::Config::reprojThresh

(

)

[inline, static]

Reprojection threshold [px].

static size_t& svo::Config::structureOptimMaxPts

(

)

[inline, static]

Maximum number of points to optimize at every iteration.

static size_t& svo::Config::structureOptimNumIter

(

)

[inline, static]

Number of iterations in structure optimization.

static size_t& svo::Config::subpixNIter

(

)

[inline, static]

Subpixel refinement of reprojection and triangulation. Set to 0 if no subpix refinement required!

static string& svo::Config::traceDir

(

)

[inline, static]

Directory where the tracefiles are saved.

static string& svo::Config::traceName

(

)

[inline, static]

Base-name of the tracefiles.

static double& svo::Config::triangMinCornerScore

(

)

[inline, static]

Select only features with a minimum Harris corner score for triangulation.

static bool& svo::Config::useImu

(

)

[inline, static]

Use the IMU to get relative rotations.

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Member Data Documentation

size_t svo::Config::core_n_kfs [private]

size_t svo::Config::grid_size [private]

double svo::Config::img_imu_delay [private]

double svo::Config::init_min_disparity [private]

size_t svo::Config::init_min_inliers [private]

size_t svo::Config::init_min_tracked [private]

double svo::Config::kfselect_mindist [private]

size_t svo::Config::klt_max_level [private]

size_t svo::Config::klt_min_level [private]

size_t svo::Config::loba_num_iter [private]

double svo::Config::loba_robust_huber_width [private]

double svo::Config::loba_thresh [private]

double svo::Config::map_scale [private]

size_t svo::Config::max_fts [private]

size_t svo::Config::max_n_kfs [private]

size_t svo::Config::n_pyr_levels [private]

size_t svo::Config::poseoptim_num_iter [private]

double svo::Config::poseoptim_thresh [private]

int svo::Config::quality_max_drop_fts [private]

size_t svo::Config::quality_min_fts [private]

double svo::Config::reproj_thresh [private]

size_t svo::Config::structureoptim_max_pts [private]

size_t svo::Config::structureoptim_num_iter [private]

size_t svo::Config::subpix_n_iter [private]

string svo::Config::trace_dir [private]

string svo::Config::trace_name [private]

size_t svo::Config::triang_half_patch_size [private]

double svo::Config::triang_min_corner_score [private]

bool svo::Config::use_imu [private]

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The documentation for this class was generated from the following file:

• include/svo/config.h