tweak the ransac coeff in futile attempt to make HT work properly

1 files changed, 4 insertions, 4 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 4ce56acc..a133fd7a 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -115,17 +115,17 @@ void Tracker::load_settings(ht_config_t* config)
     config->field_of_view = s.fov;
     config->pyrlk_pyramids = 0;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
-    config->max_keypoints = 350;
-    config->keypoint_distance = 3.4;
+    config->max_keypoints = 300;
+    config->keypoint_distance = 3.2;
     config->force_fps = nframes;
     config->camera_index = s.camera_idx - 1;
     config->ransac_num_iters = 100;
     config->ransac_max_reprojection_error = 8;
     config->ransac_max_inlier_error = 8;
-    config->ransac_abs_max_mean_error = 20;
+    config->ransac_abs_max_mean_error = 16;
     config->ransac_max_mean_error = 6.5;
     config->debug = 0;
-    config->ransac_min_features = 0.72;
+    config->ransac_min_features = 0.83;
     int res = s.resolution;
     if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
 		res = 0;