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ground_truth_config.yaml
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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 3000
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 1000
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 1000
nOctaveLayers: !!python/int 3
contrastThreshold: !!python/float 0.04
edgeThreshold: !!python/int 30
sigma: !!python/float 1.6
CENSURE_PARAMS: &censure
#maxSize: !!python/int 100
responseThreshold: !!python/int 25
#lineThresholdProjected: !!python/int 10
#lineThresholdBinarized: !!python/int 8
#suppressNonmaxSize: !!python/int 5
AKAZE_PARAMS: &akaze
# extended: !!python/bool False
# upright: !!python/bool False
#threshold: !!python/float 0.05
#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 600
toggle_morphology: !!python/bool False
# ----- FAST Detector ------
AB_FAST:
detector_params: *fast
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 1200
toggle_morphology: !!python/bool False
# ----- SIFT Detector ------
AB_SIFT:
detector_params: *sift
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 1000
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 1200
toggle_morphology: !!python/bool False
# ----- AKAZE Detector ------
AB_AKAZE:
detector_params: *akaze
extractor_params:
lk_params: *lk
flann_params:
k_min_features: !!python/int 1200
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_AKAZE:
detector_params: *shi-tomasi
extractor_params: *akaze
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-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_FAST_AKAZE:
detector_params: *fast
extractor_params: *akaze
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_ORB:
detector_params: *sift
extractor_params: *orb
lk_params:
flann_params: *flann-not-sift
k_min_features:
toggle_morphology: !!python/bool False
DB_SIFT_AKAZE:
detector_params: *sift
extractor_params: *akaze
lk_params:
flann_params: *flann-not-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_AKAZE:
detector_params: *censure
extractor_params: *akaze
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_AKAZE:
detector_params: *orb
extractor_params: *akaze
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