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-rw-r--r--bin/tracker-ht/bounding-box.raw12
-rw-r--r--bin/tracker-ht/head.raw472
-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht.cpp14
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 @@
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--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
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--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
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--0.026393 -0.005221 0.107259 -0.022692 -0.002572 0.129797 -0.020580 0.021057 0.095564
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--0.028079 -0.028715 0.107689 -0.022145 -0.018935 0.133393 -0.014340 -0.011946 0.149383
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diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp 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;