Program Listing for File DenseDepthTrackerSettings.h

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#pragma once


namespace lsd_slam {

  template <int __LEVELS>
  class DenseDepthTrackerSettings
  {
  public:
    DenseDepthTrackerSettings()
    {
        // Set default settings
        if (__LEVELS > 6)
            printf("WARNING: Sim3Tracker(): default settings are intended for a maximum of 6 levels!");

        lambdaSuccessFac = 0.5f;
        lambdaFailFac = 2.0f;

        const float stepSizeMinc[6] = {1e-8, 1e-8, 1e-8, 1e-8, 1e-8, 1e-8};
        const int maxIterations[6] = {5, 20, 50, 100, 100, 100};


        for (int level = 0; level < __LEVELS; ++ level)
        {
            lambdaInitial[level] = 0;
            stepSizeMin[level] = stepSizeMinc[level];
            convergenceEps[level] = 0.999f;
            maxItsPerLvl[level] = maxIterations[level];
        }

        lambdaInitialTestTrack = 0;
        stepSizeMinTestTrack = 1e-3;
        convergenceEpsTestTrack = 0.98;
        maxItsTestTrack = 5;

        var_weight = 1.0;
        huber_d = 3;
    }

    float lambdaSuccessFac;
    float lambdaFailFac;
    float lambdaInitial[__LEVELS];
    float stepSizeMin[__LEVELS];
    float convergenceEps[__LEVELS];
    int maxItsPerLvl[__LEVELS];

    float lambdaInitialTestTrack;
    float stepSizeMinTestTrack;
    float convergenceEpsTestTrack;
    float maxItsTestTrack;

    float huber_d;
    float var_weight;
  };

}