Method ParseORBParamFile

src/Tracking.cc:1217–1299

}

bool Tracking::ParseORBParamFile(cv::FileStorage &fSettings)
{
    bool b_miss_params = false;
    int nFeatures, nLevels, fIniThFAST, fMinThFAST;
    float fScaleFactor;

    cv::FileNode node = fSettings["ORBextractor.nFeatures"];
    if(!node.empty() && node.isInt())
    {
        nFeatures = node.operator int();
    }
    else
    {
        std::cerr << "*ORBextractor.nFeatures parameter doesn't exist or is not an integer*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["ORBextractor.scaleFactor"];
    if(!node.empty() && node.isReal())
    {
        fScaleFactor = node.real();
    }
    else
    {
        std::cerr << "*ORBextractor.scaleFactor parameter doesn't exist or is not a real number*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["ORBextractor.nLevels"];
    if(!node.empty() && node.isInt())
    {
        nLevels = node.operator int();
    }
    else
    {
        std::cerr << "*ORBextractor.nLevels parameter doesn't exist or is not an integer*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["ORBextractor.iniThFAST"];
    if(!node.empty() && node.isInt())
    {
        fIniThFAST = node.operator int();
    }
    else
    {
        std::cerr << "*ORBextractor.iniThFAST parameter doesn't exist or is not an integer*" << std::endl;
        b_miss_params = true;
    }

    node = fSettings["ORBextractor.minThFAST"];
    if(!node.empty() && node.isInt())
    {
        fMinThFAST = node.operator int();
    }
    else
    {
        std::cerr << "*ORBextractor.minThFAST parameter doesn't exist or is not an integer*" << std::endl;