1/*
2 * Copyright (C) 2011 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17/* $Id: db_utilities_constants.h,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */
18
19#ifndef DB_UTILITIES_CONSTANTS
20#define DB_UTILITIES_CONSTANTS
21
22/*****************************************************************
23*    Lean and mean begins here                                   *
24*****************************************************************/
25
26/****************Constants********************/
27#define DB_E             2.7182818284590452354
28#define DB_LOG2E         1.4426950408889634074
29#define DB_LOG10E        0.43429448190325182765
30#define DB_LN2           0.69314718055994530942
31#define DB_LN10          2.30258509299404568402
32#define DB_PI            3.1415926535897932384626433832795
33#define DB_PI_2          1.57079632679489661923
34#define DB_PI_4          0.78539816339744830962
35#define DB_1_PI          0.31830988618379067154
36#define DB_2_PI          0.63661977236758134308
37#define DB_SQRTPI        1.7724538509055160272981674833411
38#define DB_SQRT_2PI      2.506628274631000502415765284811
39#define DB_2_SQRTPI      1.12837916709551257390
40#define DB_SQRT2         1.41421356237309504880
41#define DB_SQRT3         1.7320508075688772935274463415059
42#define DB_SQRT1_2       0.70710678118654752440
43#define DB_EPS           2.220446049250313e-016 /* for 32 bit double */
44
45/****************Default Parameters********************/
46/*Preemptive ransac parameters*/
47#define DB_DEFAULT_NR_SAMPLES 500
48#define DB_DEFAULT_CHUNK_SIZE 100
49#define DB_DEFAULT_GROUP_SIZE 10
50
51/*Optimisation parameters*/
52#define DB_DEFAULT_MAX_POINTS 1000
53#define DB_DEFAULT_MAX_ITERATIONS 25
54#define DB_DEFAULT_IMP_REQ 0.001
55
56/*Feature standard deviation parameters*/
57#define DB_POINT_STANDARDDEV (1.0/(826.0)) /*1 pixel for CIF (fraction of (image width+image height)/2)*/
58#define DB_OUTLIER_THRESHOLD 3.0 /*In number of DB_POINT_STANDARDDEV's*/
59#define DB_WORST_CASE 50.0 /*In number of DB_POINT_STANDARDDEV's*/
60
61/*Front-end parameters*/
62#define DB_DEFAULT_TARGET_NR_CORNERS 5000
63#define DB_DEFAULT_NR_FEATURE_BLOCKS 10
64#define DB_DEFAULT_ABS_CORNER_THRESHOLD 50000000.0
65#define DB_DEFAULT_REL_CORNER_THRESHOLD 0.00005
66#define DB_DEFAULT_MAX_DISPARITY 0.1
67#define DB_DEFAULT_NO_DISPARITY -1.0
68#define DB_DEFAULT_MAX_TRACK_LENGTH 300
69
70#define DB_DEFAULT_MAX_NR_CAMERAS 1000
71
72#define DB_DEFAULT_TRIPLE_STEP 2
73#define DB_DEFAULT_DOUBLE_STEP 2
74#define DB_DEFAULT_SINGLE_STEP 1
75#define DB_DEFAULT_NR_SINGLES 10
76#define DB_DEFAULT_NR_DOUBLES 1
77#define DB_DEFAULT_NR_TRIPLES 1
78
79#define DB_DEFAULT_TRIFOCAL_FOUR_STEPS 40
80
81#define DB_DEFAULT_EPIPOLAR_ERROR 1 /*in pixels*/
82
83////////////////////////// DOXYGEN /////////////////////
84
85/*!
86 * \def DB_DEFAULT_GROUP_SIZE
87 * \ingroup LMRobust
88 * \brief Default group size for db_PreemptiveRansac class.
89 * Group size is the number of observation costs multiplied together
90 * before a log of the product is added to the total cost.
91*/
92
93/*!
94 * \def DB_DEFAULT_TARGET_NR_CORNERS
95 * \ingroup FeatureDetection
96 * \brief Default target number of corners
97*/
98/*!
99 * \def DB_DEFAULT_NR_FEATURE_BLOCKS
100 * \ingroup FeatureDetection
101 * \brief Default number of regions (horizontal or vertical) that are considered separately
102 * for feature detection. The greater the number, the more uniform the distribution of
103 * detected features.
104*/
105/*!
106 * \def DB_DEFAULT_ABS_CORNER_THRESHOLD
107 * \ingroup FeatureDetection
108 * \brief Absolute feature strength threshold.
109*/
110/*!
111 * \def DB_DEFAULT_REL_CORNER_THRESHOLD
112 * \ingroup FeatureDetection
113 * \brief Relative feature strength threshold.
114*/
115/*!
116 * \def DB_DEFAULT_MAX_DISPARITY
117 * \ingroup FeatureMatching
118 * \brief Maximum disparity (as fraction of image size) allowed in feature matching
119*/
120 /*!
121 * \def DB_DEFAULT_NO_DISPARITY
122 * \ingroup FeatureMatching
123 * \brief Indicates that vertical disparity is the same as horizontal disparity.
124*/
125///////////////////////////////////////////////////////////////////////////////////
126 /*!
127 * \def DB_E
128 * \ingroup LMBasicUtilities
129 * \brief e
130*/
131 /*!
132 * \def DB_LOG2E
133 * \ingroup LMBasicUtilities
134 * \brief log2(e)
135*/
136 /*!
137 * \def DB_LOG10E
138 * \ingroup LMBasicUtilities
139 * \brief log10(e)
140*/
141 /*!
142 * \def DB_LOG10E
143 * \ingroup LMBasicUtilities
144 * \brief log10(e)
145*/
146/*!
147 * \def DB_LN2
148 * \ingroup LMBasicUtilities
149 * \brief ln(2)
150*/
151/*!
152 * \def DB_LN10
153 * \ingroup LMBasicUtilities
154 * \brief ln(10)
155*/
156/*!
157 * \def DB_PI
158 * \ingroup LMBasicUtilities
159 * \brief Pi
160*/
161/*!
162 * \def DB_PI_2
163 * \ingroup LMBasicUtilities
164 * \brief Pi/2
165*/
166/*!
167 * \def DB_PI_4
168 * \ingroup LMBasicUtilities
169 * \brief Pi/4
170*/
171/*!
172 * \def DB_1_PI
173 * \ingroup LMBasicUtilities
174 * \brief 1/Pi
175*/
176/*!
177 * \def DB_2_PI
178 * \ingroup LMBasicUtilities
179 * \brief 2/Pi
180*/
181/*!
182 * \def DB_SQRTPI
183 * \ingroup LMBasicUtilities
184 * \brief sqrt(Pi)
185*/
186/*!
187 * \def DB_SQRT_2PI
188 * \ingroup LMBasicUtilities
189 * \brief sqrt(2*Pi)
190*/
191/*!
192 * \def DB_SQRT2
193 * \ingroup LMBasicUtilities
194 * \brief sqrt(2)
195*/
196/*!
197 * \def DB_SQRT3
198 * \ingroup LMBasicUtilities
199 * \brief sqrt(3)
200*/
201/*!
202 * \def DB_SQRT1_2
203 * \ingroup LMBasicUtilities
204 * \brief sqrt(1/2)
205*/
206#endif /* DB_UTILITIES_CONSTANTS */
207
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