New HT fixes incorrect focal length formula

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;