diff options
| -rw-r--r-- | bin/tracker-ht/bounding-box.raw | 12 | ||||
| -rw-r--r-- | bin/tracker-ht/head.raw | 472 | ||||
| -rw-r--r-- | ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 14 |
3 files changed, 231 insertions, 267 deletions
diff --git a/bin/tracker-ht/bounding-box.raw b/bin/tracker-ht/bounding-box.raw index 447ba262..ee6b259d 100644 --- a/bin/tracker-ht/bounding-box.raw +++ b/bin/tracker-ht/bounding-box.raw @@ -1,6 +1,6 @@ --0.104067 0.064738 0.059666 -0.141902 -0.004703 0.052029 0.000000 -0.030634 0.128842 --0.141902 -0.004703 0.052029 0.000000 -0.161596 0.132364 0.000000 -0.030634 0.128842 -0.000000 0.145545 0.080622 -0.104067 0.064738 0.059666 0.000000 -0.030634 0.128842 -0.104067 0.064738 0.059666 0.000000 -0.030634 0.128842 0.141902 -0.004703 0.052029 -0.141902 -0.004703 0.052029 0.000000 -0.030634 0.128842 0.000000 -0.161596 0.132364 -0.000000 0.145545 0.080622 0.000000 -0.030634 0.128842 0.104067 0.064738 0.059666 +-0.157721 0.061935 -0.052919 -0.154412 -0.034679 -0.063776 0.000000 -0.060609 0.027884 +-0.154412 -0.034679 -0.063776 0.000000 -0.142998 -0.027540 0.000000 -0.060609 0.027884 +0.000000 0.133376 0.038500 -0.157721 0.061935 -0.052919 0.000000 -0.060609 0.027884 +0.157721 0.061935 -0.052919 0.000000 -0.060609 0.027884 0.154412 -0.034679 -0.063776 +0.154412 -0.034679 -0.063776 0.000000 -0.060609 0.027884 0.000000 -0.142998 -0.027540 +0.000000 0.133376 0.038500 0.000000 -0.060609 0.027884 0.157721 0.061935 -0.052919 diff --git a/bin/tracker-ht/head.raw b/bin/tracker-ht/head.raw index 9fce0d84..fe85b4f3 100644 --- a/bin/tracker-ht/head.raw +++ b/bin/tracker-ht/head.raw @@ -1,254 +1,218 @@ -0.000192 0.063880 0.109438 -0.010254 0.066693 0.105981 -0.010933 0.043037 0.114298 --0.082243 -0.021799 0.078561 -0.079003 -0.049834 0.076171 -0.060071 -0.025525 0.099819 --0.037435 0.109325 0.094758 -0.077615 0.107959 0.073304 -0.055172 0.081895 0.096477 -0.000000 0.077031 0.110114 0.000000 0.110502 0.102584 -0.022507 0.078039 0.108398 -0.000192 -0.032903 0.143624 -0.007841 -0.028676 0.140006 0.000192 -0.041408 0.115188 -0.000192 -0.006110 0.154758 -0.014340 -0.011946 0.149383 0.000192 -0.022699 0.152096 -0.000000 0.110502 0.102584 -0.037435 0.109325 0.094758 -0.022507 0.078039 0.108398 --0.013437 0.025235 0.126036 0.000192 0.016855 0.141369 0.000192 0.041570 0.122228 --0.010254 0.066693 0.105981 0.000192 0.063880 0.109438 0.000000 0.077031 0.110114 --0.070143 -0.073652 0.075330 -0.051350 -0.065787 0.099504 -0.079003 -0.049834 0.076171 --0.018638 -0.088098 0.100640 0.000185 -0.086487 0.103816 0.000212 -0.080606 0.111150 -0.000212 -0.080606 0.111150 -0.015883 -0.080631 0.108264 -0.018638 -0.088098 0.100640 --0.026393 -0.005221 0.107259 -0.020580 0.021057 0.095564 -0.040444 -0.002853 0.104386 --0.061055 -0.090372 0.077605 -0.047043 -0.088500 0.091233 -0.042310 -0.083793 0.099286 --0.042310 -0.083793 0.099286 -0.051350 -0.065787 0.099504 -0.061055 -0.090372 0.077605 --0.037169 -0.082197 0.101133 -0.047043 -0.088500 0.091233 -0.018638 -0.088098 0.100640 --0.018638 -0.088098 0.100640 -0.019562 -0.080435 0.106762 -0.037169 -0.082197 0.101133 --0.026393 -0.005221 0.107259 -0.060071 -0.025525 0.099819 -0.028079 -0.028715 0.107689 --0.072354 0.016663 0.088456 -0.082704 0.013268 0.078703 -0.068680 0.003190 0.093512 --0.019849 -0.111867 0.092010 0.000000 -0.112448 0.095104 -0.012296 -0.092300 0.101969 --0.012296 -0.092300 0.101969 -0.018720 -0.092528 0.100623 -0.019849 -0.111867 0.092010 --0.010254 0.066693 0.105981 0.000000 0.077031 0.110114 -0.022507 0.078039 0.108398 --0.014340 -0.011946 0.149383 -0.013437 0.025235 0.126036 -0.022692 -0.002572 0.129797 --0.061055 -0.090372 0.077605 -0.038121 -0.110057 0.088872 -0.038206 -0.095050 0.094495 --0.038206 -0.095050 0.094495 -0.047043 -0.088500 0.091233 -0.061055 -0.090372 0.077605 --0.010933 0.043037 0.114298 -0.010254 0.066693 0.105981 -0.016622 0.041925 0.085591 -0.000192 0.063880 0.109438 -0.010933 0.043037 0.114298 0.000192 0.041570 0.122228 --0.051350 -0.065787 0.099504 -0.028079 -0.028715 0.107689 -0.060071 -0.025525 0.099819 --0.038206 -0.095050 0.094495 -0.038121 -0.110057 0.088872 -0.019849 -0.111867 0.092010 --0.019849 -0.111867 0.092010 -0.031185 -0.094859 0.096260 -0.038206 -0.095050 0.094495 --0.047043 -0.088500 0.091233 -0.037169 -0.082197 0.101133 -0.042310 -0.083793 0.099286 -0.000192 0.016855 0.141369 -0.014340 -0.011946 0.149383 0.000192 -0.006110 0.154758 --0.051350 -0.065787 0.099504 -0.060071 -0.025525 0.099819 -0.079003 -0.049834 0.076171 --0.022145 -0.018935 0.133393 -0.028079 -0.028715 0.107689 0.000192 -0.041408 0.115188 -0.000192 -0.041408 0.115188 -0.007841 -0.028676 0.140006 -0.022145 -0.018935 0.133393 --0.051350 -0.065787 0.099504 -0.070143 -0.073652 0.075330 -0.061055 -0.090372 0.077605 --0.015883 -0.080631 0.108264 -0.019562 -0.080435 0.106762 -0.018638 -0.088098 0.100640 --0.012296 -0.092300 0.101969 0.000000 -0.112448 0.095104 0.000185 -0.091804 0.104367 --0.022692 -0.002572 0.129797 -0.013437 0.025235 0.126036 -0.020580 0.021057 0.095564 --0.018720 -0.092528 0.100623 -0.031185 -0.094859 0.096260 -0.019849 -0.111867 0.092010 --0.026393 -0.005221 0.107259 -0.022692 -0.002572 0.129797 -0.020580 0.021057 0.095564 --0.013437 0.025235 0.126036 -0.014340 -0.011946 0.149383 0.000192 0.016855 0.141369 --0.016622 0.041925 0.085591 -0.020580 0.021057 0.095564 -0.010933 0.043037 0.114298 --0.028079 -0.028715 0.107689 -0.022145 -0.018935 0.133393 -0.014340 -0.011946 0.149383 --0.014340 -0.011946 0.149383 -0.022692 -0.002572 0.129797 -0.028079 -0.028715 0.107689 --0.022692 -0.002572 0.129797 -0.026393 -0.005221 0.107259 -0.028079 -0.028715 0.107689 --0.068680 0.003190 0.093512 -0.082243 -0.021799 0.078561 -0.060071 -0.025525 0.099819 --0.072354 0.016663 0.088456 -0.068680 0.003190 0.093512 -0.020580 0.021057 0.095564 --0.020580 0.021057 0.095564 -0.068680 0.003190 0.093512 -0.040444 -0.002853 0.104386 --0.082704 0.013268 0.078703 -0.082243 -0.021799 0.078561 -0.068680 0.003190 0.093512 --0.010933 0.043037 0.114298 -0.013437 0.025235 0.126036 0.000192 0.041570 0.122228 --0.016622 0.041925 0.085591 -0.010254 0.066693 0.105981 -0.021343 0.065582 0.100524 --0.077615 0.107959 0.073304 -0.083322 0.082967 0.079147 -0.055172 0.081895 0.096477 --0.055172 0.081895 0.096477 -0.022507 0.078039 0.108398 -0.037435 0.109325 0.094758 --0.020580 0.021057 0.095564 -0.013437 0.025235 0.126036 -0.010933 0.043037 0.114298 --0.059733 0.033165 0.094505 -0.083856 0.031734 0.082499 -0.084445 0.042204 0.082175 --0.034345 0.059653 0.092354 -0.022507 0.078039 0.108398 -0.021343 0.065582 0.100524 --0.010254 0.066693 0.105981 -0.022507 0.078039 0.108398 -0.021343 0.065582 0.100524 --0.033600 0.031630 0.088610 -0.020580 0.021057 0.095564 -0.016622 0.041925 0.085591 --0.056306 0.045744 0.096674 -0.059733 0.033165 0.094505 -0.061170 0.044971 0.095132 --0.072354 0.016663 0.088456 -0.083856 0.031734 0.082499 -0.082704 0.013268 0.078703 --0.037941 0.039288 0.094471 -0.059733 0.033165 0.094505 -0.056306 0.045744 0.096674 --0.056306 0.045744 0.096674 -0.051644 0.044317 0.096088 -0.037941 0.039288 0.094471 --0.074449 0.064863 0.086902 -0.062372 0.053263 0.095500 -0.073440 0.050684 0.088053 --0.062372 0.053263 0.095500 -0.056306 0.045744 0.096674 -0.061170 0.044971 0.095132 --0.073440 0.050684 0.088053 -0.062372 0.053263 0.095500 -0.061170 0.044971 0.095132 --0.061170 0.044971 0.095132 -0.070471 0.043362 0.089922 -0.073440 0.050684 0.088053 --0.056306 0.045744 0.096674 -0.062372 0.053263 0.095500 -0.051746 0.051891 0.096194 --0.037941 0.039288 0.094471 -0.059733 0.033165 0.094505 -0.036170 0.034096 0.091660 --0.062372 0.053263 0.095500 -0.041641 0.062946 0.091827 -0.051746 0.051891 0.096194 --0.041100 0.050453 0.095799 -0.037941 0.039288 0.094471 -0.045769 0.047798 0.096254 --0.073440 0.050684 0.088053 -0.084445 0.042204 0.082175 -0.085454 0.056383 0.081024 --0.085454 0.056383 0.081024 -0.074449 0.064863 0.086902 -0.073440 0.050684 0.088053 --0.037941 0.039288 0.094471 -0.041100 0.050453 0.095799 -0.041641 0.062946 0.091827 --0.041641 0.062946 0.091827 -0.034345 0.059653 0.092354 -0.037941 0.039288 0.094471 --0.083322 0.082967 0.079147 -0.055172 0.081895 0.096477 -0.074449 0.064863 0.086902 --0.074449 0.064863 0.086902 -0.085454 0.056383 0.081024 -0.083322 0.082967 0.079147 --0.055172 0.081895 0.096477 -0.022507 0.078039 0.108398 -0.074449 0.064863 0.086902 --0.022507 0.078039 0.108398 -0.041641 0.062946 0.091827 -0.074449 0.064863 0.086902 --0.022507 0.078039 0.108398 -0.034345 0.059653 0.092354 -0.041641 0.062946 0.091827 --0.059733 0.033165 0.094505 -0.033600 0.031630 0.088610 -0.036170 0.034096 0.091660 --0.020580 0.021057 0.095564 -0.033600 0.031630 0.088610 -0.072354 0.016663 0.088456 --0.037941 0.039288 0.094471 -0.034345 0.059653 0.092354 -0.026942 0.052248 0.087992 --0.026942 0.052248 0.087992 -0.027775 0.040487 0.089980 -0.037941 0.039288 0.094471 --0.033600 0.031630 0.088610 -0.016622 0.041925 0.085591 -0.028160 0.037325 0.088951 --0.028160 0.037325 0.088951 -0.016622 0.041925 0.085591 -0.027775 0.040487 0.089980 --0.068680 0.003190 0.093512 -0.060071 -0.025525 0.099819 -0.040444 -0.002853 0.104386 --0.060071 -0.025525 0.099819 -0.026393 -0.005221 0.107259 -0.040444 -0.002853 0.104386 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b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 60db4aa2..29970715 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -108,19 +108,19 @@ 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 = 200; - config->keypoint_distance = 2.6; + config->max_keypoints = 250; + config->keypoint_distance = 3.5; //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 = 4.5; - config->ransac_max_inlier_error = 4.5; - config->ransac_abs_max_mean_error = 8; - config->ransac_max_mean_error = 3.6; + config->ransac_max_reprojection_error = 5.9; + config->ransac_max_inlier_error = 6; + config->ransac_abs_max_mean_error = 12; + config->ransac_max_mean_error = 4.5; config->debug = 0; - config->ransac_min_features = 0.85; + config->ransac_min_features = 0.875; int res = iniFile.value("resolution", 0).toInt(); if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple))) res = 0; |