summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
-rw-r--r--FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp10
-rw-r--r--bin/tracker-ht/head.raw32
2 files changed, 27 insertions, 15 deletions
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
index 8d45a9d9..ad530a0b 100644
--- a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
+++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
@@ -31,12 +31,12 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
config->force_fps = iniFile.value("fps", 0).toInt();
config->camera_index = iniFile.value("camera-index", -1).toInt();
config->ransac_num_iters = 100;
- config->ransac_max_reprojection_error = 3.5;
- config->ransac_max_inlier_error = 3.5;
- config->ransac_max_mean_error = 3;
- config->ransac_abs_max_mean_error = 5;
+ config->ransac_max_reprojection_error = 2.8;
+ config->ransac_max_inlier_error = 2.8;
+ config->ransac_max_mean_error = 2.3;
+ config->ransac_abs_max_mean_error = 3.5;
config->debug = 0;
- config->ransac_min_features = 0.88;
+ config->ransac_min_features = 0.9;
if (tracker)
{
tracker->enableRX = iniFile.value("enable-rx", true).toBool();
diff --git a/bin/tracker-ht/head.raw b/bin/tracker-ht/head.raw
index 73f98935..98e4dd78 100644
--- a/bin/tracker-ht/head.raw
+++ b/bin/tracker-ht/head.raw
@@ -1,7 +1,7 @@
-6.879488 16.369503 -6.342554 -5.632996 -4.550716 25.508436 -2.879492 27.414343 3.478956
--25.718199 -8.213475 -0.346803 -15.509010 -31.570152 10.351113 -10.186131 -14.557302 6.319825
+-25.718199 -8.213475 -3.215088 -15.509010 -31.570152 8.423428 -12.387653 -21.593750 7.616004
-5.632996 -4.550716 25.508436 0.072291 24.939127 3.957952 -2.879492 27.414343 3.478956
--28.052271 14.484056 -11.582376 -25.718199 -8.213475 -0.346803 -6.879488 16.369503 -6.342554
+-28.052271 14.484056 -11.582376 -25.718199 -8.213475 -3.215088 -19.426867 -0.003800 -2.349130
-26.803236 40.905388 -8.717939 -28.275431 30.114319 -6.703632 -18.276705 30.752459 -0.828288
0.032860 42.487907 -2.175172 -18.276705 30.752459 -0.828288 -2.879492 27.414343 3.478956
0.137085 -6.962950 25.974054 -5.632996 -4.550716 25.508436 -10.186131 -14.557302 6.319825
@@ -11,14 +11,20 @@
0.032860 42.487907 -2.175172 -26.803236 40.905388 -8.717939 -18.276705 30.752459 -0.828288
-5.632996 -4.550716 25.508436 0.030790 -0.766475 26.520433 0.072291 24.939127 3.957952
0.032860 42.487907 -2.175172 -2.879492 27.414343 3.478956 0.072291 24.939127 3.957952
--10.186131 -14.557302 6.319825 -15.509010 -31.570152 10.351113 -0.087233 -20.572937 11.676682
--10.186131 -14.557302 6.319825 -6.879488 16.369503 -6.342554 -25.718199 -8.213475 -0.346803
--15.509010 -31.570152 10.351113 -0.087233 -20.572937 11.676682 0.020257 -36.463058 13.961480
+-12.387653 -21.593750 7.616004 -15.509010 -31.570152 8.423428 -7.920530 -26.219366 10.996079
+-25.718199 -8.213475 -3.215088 -10.186131 -14.557302 6.319825 -19.426867 -0.003800 -2.349130
+-15.509010 -31.570152 8.423428 -7.920530 -26.219366 10.996079 -0.087233 -20.572937 11.676682
+-0.087233 -20.572937 11.676682 0.020257 -36.463058 13.961480 -15.509010 -31.570152 8.423428
-10.186131 -14.557302 6.319825 -5.632996 -4.550716 25.508436 -6.879488 16.369503 -6.342554
+-10.186131 -14.557302 6.319825 -25.718199 -8.213475 -3.215088 -12.387653 -21.593750 7.616004
+-10.186131 -14.557302 6.319825 -12.387653 -21.593750 7.616004 -7.920530 -26.219366 10.996079
+-7.920530 -26.219366 10.996079 -0.087233 -20.572937 11.676682 -10.186131 -14.557302 6.319825
+-10.186131 -14.557302 6.319825 -6.879488 16.369503 -6.342554 -19.426867 -0.003800 -2.349130
+-6.879488 16.369503 -6.342554 -28.052271 14.484056 -11.582376 -19.426867 -0.003800 -2.349130
6.879488 16.369503 -6.342554 2.879492 27.414343 3.478956 5.632996 -4.550716 25.508436
-25.718199 -8.213475 -0.346803 10.186131 -14.557302 6.319825 15.509010 -31.570152 10.351113
+25.718199 -8.213475 -3.215088 12.387653 -21.593750 7.616004 15.509010 -31.570152 8.423428
5.632996 -4.550716 25.508436 2.879492 27.414343 3.478956 0.072291 24.939127 3.957952
-28.052271 14.484056 -11.582376 6.879488 16.369503 -6.342554 25.718199 -8.213475 -0.346803
+28.052271 14.484056 -11.582376 19.426867 -0.003800 -2.349130 25.718199 -8.213475 -3.215088
26.803236 40.905388 -8.717939 18.276705 30.752459 -0.828288 28.275431 30.114319 -6.703632
0.032860 42.487907 -2.175172 2.879492 27.414343 3.478956 18.276705 30.752459 -0.828288
10.186131 -14.557302 6.319825 5.632996 -4.550716 25.508436 0.137085 -6.962950 25.974054
@@ -28,7 +34,13 @@
0.032860 42.487907 -2.175172 18.276705 30.752459 -0.828288 26.803236 40.905388 -8.717939
5.632996 -4.550716 25.508436 0.072291 24.939127 3.957952 0.030790 -0.766475 26.520433
0.032860 42.487907 -2.175172 0.072291 24.939127 3.957952 2.879492 27.414343 3.478956
-10.186131 -14.557302 6.319825 -0.087233 -20.572937 11.676682 15.509010 -31.570152 10.351113
-10.186131 -14.557302 6.319825 25.718199 -8.213475 -0.346803 6.879488 16.369503 -6.342554
-15.509010 -31.570152 10.351113 0.020257 -36.463058 13.961480 -0.087233 -20.572937 11.676682
+12.387653 -21.593750 7.616004 7.920530 -26.219366 10.996079 15.509010 -31.570152 8.423428
+25.718199 -8.213475 -3.215088 19.426867 -0.003800 -2.349130 10.186131 -14.557302 6.319825
+15.509010 -31.570152 8.423428 0.020257 -36.463058 13.961480 -0.087233 -20.572937 11.676682
+-0.087233 -20.572937 11.676682 7.920530 -26.219366 10.996079 15.509010 -31.570152 8.423428
10.186131 -14.557302 6.319825 6.879488 16.369503 -6.342554 5.632996 -4.550716 25.508436
+10.186131 -14.557302 6.319825 12.387653 -21.593750 7.616004 25.718199 -8.213475 -3.215088
+10.186131 -14.557302 6.319825 -0.087233 -20.572937 11.676682 7.920530 -26.219366 10.996079
+7.920530 -26.219366 10.996079 12.387653 -21.593750 7.616004 10.186131 -14.557302 6.319825
+10.186131 -14.557302 6.319825 19.426867 -0.003800 -2.349130 6.879488 16.369503 -6.342554
+6.879488 16.369503 -6.342554 19.426867 -0.003800 -2.349130 28.052271 14.484056 -11.582376