Update HT data files and config

3 files changed, 231 insertions, 267 deletions

diff --git a/bin/tracker-ht/bounding-box.raw b/bin/tracker-ht/bounding-box.raw
index 447ba262..ee6b259d 100644
--- a/bin/tracker-ht/bounding-box.raw
+++ b/bin/tracker-ht/bounding-box.raw
@@ -1,6 +1,6 @@
--0.104067 0.064738 0.059666 -0.141902 -0.004703 0.052029 0.000000 -0.030634 0.128842 
--0.141902 -0.004703 0.052029 0.000000 -0.161596 0.132364 0.000000 -0.030634 0.128842 
-0.000000 0.145545 0.080622 -0.104067 0.064738 0.059666 0.000000 -0.030634 0.128842 
-0.104067 0.064738 0.059666 0.000000 -0.030634 0.128842 0.141902 -0.004703 0.052029 
-0.141902 -0.004703 0.052029 0.000000 -0.030634 0.128842 0.000000 -0.161596 0.132364 
-0.000000 0.145545 0.080622 0.000000 -0.030634 0.128842 0.104067 0.064738 0.059666 
+-0.157721 0.061935 -0.052919 -0.154412 -0.034679 -0.063776 0.000000 -0.060609 0.027884 
+-0.154412 -0.034679 -0.063776 0.000000 -0.142998 -0.027540 0.000000 -0.060609 0.027884 
+0.000000 0.133376 0.038500 -0.157721 0.061935 -0.052919 0.000000 -0.060609 0.027884 
+0.157721 0.061935 -0.052919 0.000000 -0.060609 0.027884 0.154412 -0.034679 -0.063776 
+0.154412 -0.034679 -0.063776 0.000000 -0.060609 0.027884 0.000000 -0.142998 -0.027540 
+0.000000 0.133376 0.038500 0.000000 -0.060609 0.027884 0.157721 0.061935 -0.052919 
diff --git a/bin/tracker-ht/head.raw b/bin/tracker-ht/head.raw
index 9fce0d84..fe85b4f3 100644
--- a/bin/tracker-ht/head.raw
+++ b/bin/tracker-ht/head.raw
@@ -1,254 +1,218 @@
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-0.000000 0.110502 0.102584 -0.037435 0.109325 0.094758 -0.022507 0.078039 0.108398 
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diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 60db4aa2..29970715 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -108,19 +108,19 @@ 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->keypoint_distance = 2.6;
+    config->max_keypoints = 250;
+    config->keypoint_distance = 3.5;
     //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 = 100;
-    config->ransac_max_reprojection_error = 4.5;
-    config->ransac_max_inlier_error = 4.5;
-    config->ransac_abs_max_mean_error = 8;
-    config->ransac_max_mean_error = 3.6;
+    config->ransac_max_reprojection_error = 5.9;
+    config->ransac_max_inlier_error = 6;
+    config->ransac_abs_max_mean_error = 12;
+    config->ransac_max_mean_error = 4.5;
     config->debug = 0;
-    config->ransac_min_features = 0.85;
+    config->ransac_min_features = 0.875;
     int res = iniFile.value("resolution", 0).toInt();
     if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
 		res = 0;