New HT

1 files changed, 7 insertions, 7 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index c5e36c34..5db70115 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -100,19 +100,19 @@ 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 = 300;
-    config->keypoint_quality = 2;
-    config->keypoint_distance = 1.9;
-    config->keypoint_3distance = 7;
+    config->max_keypoints = 100;
+    config->keypoint_quality = 7;
+    config->keypoint_distance = 1;
+    config->keypoint_3distance = 5.5;
     //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 = 3.63637;
+    config->ransac_max_reprojection_error = 4.05;
     config->ransac_max_inlier_error = 4.09;
-    config->ransac_max_mean_error = 3.5;
-    config->ransac_abs_max_mean_error = 7;
+    config->ransac_max_mean_error = 4;
+    config->ransac_abs_max_mean_error = 10;
     config->debug = 0;
     config->ransac_min_features = 0.87;
     int res = iniFile.value("resolution", 0).toInt();