00001 00004 #ifndef P_DEFINITIONS_HH 00005 #define P_DEFINITIONS_HH 00006 00007 #pragma once 00008 00009 #include <blort/Recognizer3D/PNamespace.hh> 00010 00011 //for debugging 00012 //#define DEBUG 00013 00014 #define NUM_THREADS 2 00015 00016 00017 00018 namespace P 00019 { 00020 00021 class Def 00022 { 00023 public: 00024 static const int DO_MAX_RANSAC_TRIALS; 00025 static const int DO_MATCHER; //0 = use match second nearest match, 1=threshold, 2=gpu 00026 static const float DO_MIN_DESC_DIST; // descriptor distance for object detection 00027 static const double DO_RANSAC_ETA0; //failure probability 00028 static const double DO_RANSAC_INL_DIST; //1.; 00029 static const float DO_CLUSTER_SIGMA_THR; // cluster threshold for codebook 00030 static const double DO_TIME_MEAN; 00031 static const double DISTANCE_RATIO; // least squares is only accepted if pose does not change very much 00032 }; 00033 00034 } 00035 #endif