-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathcycles_config.yaml
292 lines (256 loc) · 6.92 KB
/
cycles_config.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
DEFAULTS:
W: !!python/int 1920
H: !!python/int 1080
PIN_HOLE_PARAMS:
fx: !!python/float 1263.1578
fy: !!python/int 1125
cx: !!python/int 960
cy: !!python/int 540
SHI_TOMASI_PARAMS: &shi-tomasi
maxCorners: !!python/int 500
qualityLevel: !!python/float 0.005
minDistance: !!python/int 30
blockSize: !!python/int 10
FAST_PARAMS: &fast
threshold: !!python/int 10
nonmaxSuppression: !!python/bool True
ORB_PARAMS: &orb
nfeatures: !!python/int 2500
scaleFactor: !!python/float 2
nlevels: !!python/int 8
edgeThreshold: !!python/int 3
firstLevel: !!python/int 0
WTA_K: !!python/int 2
scoreType: !!python/int 1 #ORB_FAST_SCORE = 1 | ORB_HARRIS_SCORE = 0
patchSize: !!python/int 31
fastThreshold: !!python/int 10
BRIEF_PARAMS: &brief
use_orientation: !!python/bool True
SIFT_PARAMS: &sift
nfeatures: !!python/int 2000
nOctaveLayers: !!python/int 1
contrastThreshold: !!python/float 0.01
#edgeThreshold: !!python/int 0
#sigma: !!python/float 0.7
CENSURE_PARAMS: &censure
maxSize: !!python/int 15
responseThreshold: !!python/int 5
lineThresholdProjected: !!python/int 5
lineThresholdBinarized: !!python/int 5
suppressNonmaxSize: !!python/int 10
AKAZE_PARAMS: &akaze
# extended: !!python/bool False
# upright: !!python/bool False
threshold: !!python/float 0.0007
nOctaves: !!python/int 3
#nOctaveLayers: !!python/int 3
# diffusivity: !!python/int 1 # DIFF_PM_G2
LK_PARAMS: &lk
winSize: !!python/tuple [21, 21]
maxLevel: !!python/int 6
criteria: !!python/tuple [2, 1, 30, 0.01] # (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 30, 0.01)
#flags: !!python/int 8 # cv2.OPTFLOW_LK_GET_MIN_EIGENVALS
minEigThreshold: !!python/float 0.0001 # 1e-4
FLANN_PARAMS:
NON_SIFT: &flann-not-sift
index_params:
algorithm: !!python/int 6
table_number: !!python/int 6
key_size: !!python/int 12
multi_probe_level: !!python/int 1
search_params:
checks: !!python/int 50
SIFT: &flann-sift
index_params:
algorithm: !!python/int 0
trees: !!python/int 5
search_params:
checks: !!python/int 50
# Below we list our experiments.
# For appearance-based tracking we use optical flow, and only need to specify the detector method
# For descriptor-based tracking we use FLANN; and must specify detector and descriptor method
# Experiments are specified as follow:
# 1) For appearance-based: AB_{DetectorMethod}
# 2) For descriptor-based: DB_{DetectorMethod}_{ExtractorMethod}
# ---------------------- APPEARANCE-BASED ----------------------
# ----- SHI Detector ------
AB_SHI:
detector_params: *shi-tomasi
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 400
toggle_morphology: !!python/bool False
# ----- FAST Detector ------
AB_FAST:
detector_params: *fast
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 2000
toggle_morphology: !!python/bool False
# ----- SIFT Detector ------
AB_SIFT:
detector_params: *sift
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 1200
toggle_morphology: !!python/bool False
# ----- CENSURE Detector ------
AB_CENSURE:
detector_params: *censure
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 1200
toggle_morphology: !!python/bool False
# ----- ORB Detector ------
AB_ORB:
detector_params: *orb
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 2400
toggle_morphology: !!python/bool False
# ----- AKAZE Detector ------
AB_AKAZE:
detector_params: *akaze
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 800
toggle_morphology: !!python/bool False
# ---------------------- DESCRIPTOR-BASED ----------------------
# ----- SHI Detector ------
DB_SHI_SIFT:
detector_params: *shi-tomasi
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_SHI_ORB:
detector_params: *shi-tomasi
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_SHI_BRIEF:
detector_params: *shi-tomasi
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
# ----- FAST Detector ------
DB_FAST_SIFT:
detector_params: *fast
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_FAST_ORB:
detector_params: *fast
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_FAST_BRIEF:
detector_params: *fast
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
# ----- SIFT Detector ------
DB_SIFT_SIFT:
detector_params: *sift
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_SIFT_BRIEF:
detector_params: *sift
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
# ----- CENSURE Detector ------
DB_CENSURE_SIFT:
detector_params: *censure
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_CENSURE_ORB:
detector_params: *censure
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_CENSURE_BRIEF:
detector_params: *censure
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
# ----- ORB Detector ------
DB_ORB_SIFT:
detector_params: *orb
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_ORB_ORB:
detector_params: *orb
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_ORB_BRIEF:
detector_params: *orb
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
# ----- AKAZE Detector ------
DB_AKAZE_SIFT:
detector_params: *akaze
extractor_params: *sift
lk_params:
flann_params: *flann-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_AKAZE_ORB:
detector_params: *akaze
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_AKAZE_AKAZE:
detector_params: *akaze
extractor_params: *akaze
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_AKAZE_BRIEF:
detector_params: *akaze
extractor_params: *brief
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False