New HT

1 files changed, 6 insertions, 6 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index c5e860ee..f91cb555 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -109,18 +109,18 @@ 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 = 100;
-    config->keypoint_quality = 7;
+    config->max_keypoints = 150;
+    config->keypoint_quality = 2;
     config->keypoint_distance = 1.5;
-    config->keypoint_3distance = 5.0;
+    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 = 3.75;
-    config->ransac_max_inlier_error = 3.8;
-    config->ransac_max_mean_error = 4;
+    config->ransac_max_reprojection_error = 3.7;
+    config->ransac_max_inlier_error = 4;
+    config->ransac_max_mean_error = 3.6;
     config->ransac_abs_max_mean_error = 10;
     config->debug = 0;
     config->ransac_min_features = 0.85;