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authorStanislaw Halik <sthalik@misaki.pl>2013-04-28 13:45:11 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-04-28 13:45:11 +0200
commitaa18be8e6afb8e216dc6f4bc5068e653c52b60db (patch)
treed1890b34371fa3fe6449d6fada8c065c13d13966 /ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
parent9f65dc6b10446f9a34741474d765bd012748a3a2 (diff)
New HT fixes incorrect focal length formula
Diffstat (limited to 'ftnoir_tracker_ht/ftnoir_tracker_ht.cpp')
-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht.cpp10
1 files changed, 5 insertions, 5 deletions
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 72f7c440..6e0c607d 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 = 150;
- config->keypoint_quality = 3;
- config->keypoint_distance = 3;
+ config->max_keypoints = 200;
+ config->keypoint_quality = 2;
+ config->keypoint_distance = 2;
config->keypoint_3distance = 5;
config->keypoint_9distance = 10;
//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_num_iters = 50;
config->ransac_max_reprojection_error = 3.75;
config->ransac_max_inlier_error = 3.8;
config->ransac_abs_max_mean_error = 8;
config->ransac_max_mean_error = 3.8;
config->debug = 1;
- config->ransac_min_features = 0.81;
+ config->ransac_min_features = 0.84;
int res = iniFile.value("resolution", 0).toInt();
if (res < 0 || res >= (int)(sizeof(*resolution_choices) / sizeof(resolution_tuple)))
res = 0;