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zParametersWarpingDefault.txt
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zParametersWarpingDefault.txt
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//Default Tracking Parameters
s_maxLevels = 3;
////
s_maxOuterIter[0] = 4;
s_maxInnerIter[0] = 1;
s_distThres[0] = 0.15f;
s_normalThres[0] = 0.97f;
s_angleTransThres[0] = 1.0f;// radians
s_distTransThres[0] = 1.0f; // meters
s_residualEarlyOut[0] = 0.01f; //causes an early out if residual is smaller than this number (no early out if set to zero)
s_weightsDepth[0] = 0.5f;
s_weightsColor[0] = 0.5f;
s_colorGradientMin[0] = 0.001f;
s_colorThres[0] = 0.01f;
s_offsetx[0] = 32.f;
s_offsety[0] = 32.f;
s_cellWidth[0] = 64.f;
s_cellHeight[0] = 64.f;
s_sigma[0] = 64.f;
s_localWindowHWidth[0] = 64.f;
s_lambdaReg[0] = 10.;
s_maxOuterIter[1] = 6;
s_maxInnerIter[1] = 1;
s_distThres[1] = 0.15f;
s_normalThres[1] = 0.97f;
s_angleTransThres[1] = 1.0f;// radians
s_distTransThres[1] = 1.0f; // meters
s_residualEarlyOut[1] = 0.01f; //causes an early out if residual is smaller than this number (no early out if set to zero)
s_weightsDepth[1] = 0.5f;
s_weightsColor[1] = 0.5f;
s_colorGradientMin[1] = 0.001f;
s_colorThres[1] = 0.1f;
s_offsetx[1] = 32.f;
s_offsety[1] = 32.f;
s_cellWidth[1] = 64.f;
s_cellHeight[1] = 64.f;
s_sigma[1] = 64.f;
s_localWindowHWidth[1] = 64.f;
s_lambdaReg[1] = 10.;
s_maxOuterIter[2] = 8;
s_maxInnerIter[2] = 1;
s_distThres[2] = 0.15f;
s_normalThres[2] = 0.97f;
s_angleTransThres[2] = 1.0f;// radians
s_distTransThres[2] = 1.0f; // meters
s_residualEarlyOut[2] = 0.01; //causes an early out if residual is smaller than this number (no early out if set to zero)
s_weightsDepth[2] = 0.5f;
s_weightsColor[2] = 0.5f;
s_colorGradientMin[2] = 0.001f;
s_colorThres[2] = 0.1f;
s_offsetx[2] = 80.f;
s_offsety[2] = 80.f;
s_cellWidth[2] = 100.f;
s_cellHeight[2] =100.f;
s_sigma[2] = 64.f;
s_localWindowHWidth[2] = 64.f;
s_lambdaReg[2] = 10.;
s_maxOuterIter[3] = 4;
s_maxInnerIter[3] = 1;
s_distThres[3] = 0.15f;
s_normalThres[3] = 0.97f;
s_angleTransThres[3] = 1.0f;// radians
s_distTransThres[3] = 1.0f; // meters
s_residualEarlyOut[3] = 0.01f; //causes an early out if residual is smaller than this number (no early out if set to zero)
s_weightsDepth[3] = 0.5f;
s_weightsColor[3] = 0.5f;
s_colorGradientMin[3] = 0.005f;
s_colorThres[3] = 0.1f;
s_offsetx[3] = 40.f;
s_offsety[3] = 30.f;
s_cellWidth[3] = 100.f;
s_cellHeight[3] = 100.f;
s_sigma[3] = 32.f;
s_localWindowHWidth[3] = 64.f;
s_lambdaReg[3] = 10.;