Tracking quality should be back to old times

3 files changed, 25 insertions, 33 deletions

diff --git a/bin/tracker-ht/bounding-box.raw b/bin/tracker-ht/bounding-box.raw
index 6609a9c5..89aaf918 100644
--- a/bin/tracker-ht/bounding-box.raw
+++ b/bin/tracker-ht/bounding-box.raw
@@ -1,24 +1,16 @@
--0.029640 -0.078250 0.063781 0.002672 -0.028566 0.104123 -0.029228 0.004444 0.102992 
--0.029228 0.004444 0.102992 -0.063137 -0.035469 0.063785 -0.029640 -0.078250 0.063781 
--0.029228 0.004444 0.102992 -0.065357 0.009191 0.069258 -0.063137 -0.035469 0.063785 
--0.029640 -0.078250 0.063781 0.002888 -0.079662 0.066239 0.002672 -0.028566 0.104123 
--0.054178 -0.070235 0.057719 -0.029640 -0.078250 0.063781 -0.063137 -0.035469 0.063785 
-0.001670 0.005150 0.107129 -0.029228 0.004444 0.102992 0.002672 -0.028566 0.104123 
-0.029228 0.004444 0.102992 0.002672 -0.028566 0.104123 0.029640 -0.078250 0.063781 
-0.029640 -0.078250 0.063781 0.063137 -0.035469 0.063785 0.029228 0.004444 0.102992 
-0.029228 0.004444 0.102992 0.063137 -0.035469 0.063785 0.065357 0.009191 0.069258 
-0.029640 -0.078250 0.063781 0.002672 -0.028566 0.104123 0.002888 -0.079662 0.066239 
-0.063137 -0.035469 0.063785 0.029640 -0.078250 0.063781 0.054178 -0.070235 0.057719 
-0.001670 0.005150 0.107129 0.002672 -0.028566 0.104123 0.029228 0.004444 0.102992 
--0.029228 0.004444 0.102992 0.002672 0.043215 0.109922 -0.029640 0.098732 0.078079 
--0.029640 0.098732 0.078079 -0.063137 0.056504 0.071216 -0.029228 0.004444 0.102992 
--0.029228 0.004444 0.102992 -0.063137 0.056504 0.071216 -0.065357 0.009191 0.069258 
--0.029640 0.098732 0.078079 0.002672 0.043215 0.109922 0.002888 0.099731 0.080732 
--0.063137 0.056504 0.071216 -0.029640 0.098732 0.078079 -0.054178 0.091794 0.070810 
-0.001670 0.005150 0.107129 0.002672 0.043215 0.109922 -0.029228 0.004444 0.102992 
-0.029228 0.004444 0.102992 0.063137 0.056504 0.071216 0.029640 0.098732 0.078079 
-0.029640 0.098732 0.078079 0.002672 0.043215 0.109922 0.029228 0.004444 0.102992 
-0.029228 0.004444 0.102992 0.065357 0.009191 0.069258 0.063137 0.056504 0.071216 
-0.029640 0.098732 0.078079 0.002888 0.099731 0.080732 0.002672 0.043215 0.109922 
-0.063137 0.056504 0.071216 0.054178 0.091794 0.070810 0.029640 0.098732 0.078079 
-0.001670 0.005150 0.107129 0.029228 0.004444 0.102992 0.002672 0.043215 0.109922 
+-0.024024 -0.079423 0.093228 0.000234 -0.085316 0.097518 0.000760 -0.045551 0.108331 
+0.000760 -0.045551 0.108331 0.001911 0.007446 0.120438 -0.072701 0.005997 0.088004 
+-0.024024 -0.079423 0.093228 0.000760 -0.045551 0.108331 -0.072701 0.005997 0.088004 
+-0.024024 -0.079423 0.093228 -0.072701 0.005997 0.088004 -0.070161 -0.050331 0.083012 
+0.024024 -0.079423 0.093228 0.000760 -0.045551 0.108331 0.000234 -0.085316 0.097518 
+0.072701 0.005997 0.088004 0.001911 0.007446 0.120438 0.000760 -0.045551 0.108331 
+0.024024 -0.079423 0.093228 0.072701 0.005997 0.088004 0.000760 -0.045551 0.108331 
+0.024024 -0.079423 0.093228 0.070161 -0.050331 0.083012 0.072701 0.005997 0.088004 
+-0.024024 0.094720 0.107297 0.000760 0.058864 0.116767 0.000234 0.099848 0.112478 
+-0.072701 0.005997 0.088004 0.001911 0.007446 0.120438 0.000760 0.058864 0.116767 
+-0.024024 0.094720 0.107297 -0.072701 0.005997 0.088004 0.000760 0.058864 0.116767 
+-0.024024 0.094720 0.107297 -0.070161 0.067646 0.092544 -0.072701 0.005997 0.088004 
+0.024024 0.094720 0.107297 0.000234 0.099848 0.112478 0.000760 0.058864 0.116767 
+0.000760 0.058864 0.116767 0.001911 0.007446 0.120438 0.072701 0.005997 0.088004 
+0.024024 0.094720 0.107297 0.000760 0.058864 0.116767 0.072701 0.005997 0.088004 
+0.024024 0.094720 0.107297 0.072701 0.005997 0.088004 0.070161 0.067646 0.092544 
diff --git a/bin/tracker-ht/headtracker-ftnoir.exe b/bin/tracker-ht/headtracker-ftnoir.exe
index 1322a869..6a4d16aa 100644
--- a/bin/tracker-ht/headtracker-ftnoir.exe
+++ b/bin/tracker-ht/headtracker-ftnoir.exe
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index d5f16b79..d37ab9b2 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -109,22 +109,22 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
     config->field_of_view = iniFile.value("fov", 52).toFloat();
 	config->pyrlk_pyramids = 3;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
-    config->max_keypoints = 200;
+    config->max_keypoints = 300;
     config->keypoint_quality = 2;
     config->keypoint_distance = 1;
-    config->keypoint_3distance = 2.9;
-    config->keypoint_9distance = 8;
+    config->keypoint_3distance = 2;
+    config->keypoint_9distance = 4;
     //config->force_width = 640;
     //config->force_height = 480;
     config->force_fps = iniFile.value("fps", 0).toInt();
     config->camera_index = iniFile.value("camera-index", -1).toInt();
-    config->ransac_num_iters = 50;
-    config->ransac_max_reprojection_error = 3.7;
-    config->ransac_max_inlier_error = 3.6;
-    config->ransac_max_mean_error = 3.5;
+    config->ransac_num_iters = 100;
+    config->ransac_max_reprojection_error = 4.2;
+    config->ransac_max_inlier_error = 4;
+    config->ransac_max_mean_error = 4;
     config->ransac_abs_max_mean_error = 8;
     config->debug = 1;
-    config->ransac_min_features = 0.83;
+    config->ransac_min_features = 0.86;
     int res = iniFile.value("resolution", 0).toInt();
     if (res < 0 || res >= (int)(sizeof(*resolution_choices) / sizeof(resolution_tuple)))
 		res = 0;
@@ -132,7 +132,7 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
 	config->force_width = r.width;
     config->force_height = r.height;
     config->user_landmarks = false; //iniFile.value("use-bashed-coords").toBool();
-    config->flandmark_delay = 80;
+    config->flandmark_delay = 350;
 #if 0
     if (config->user_landmarks)
     {