diff options
| -rw-r--r-- | FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp | 10 | ||||
| -rw-r--r-- | bin/tracker-ht/head.raw | 32 |
2 files changed, 27 insertions, 15 deletions
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp index 8d45a9d9..ad530a0b 100644 --- a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp +++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp @@ -31,12 +31,12 @@ static void load_settings(ht_config_t* config, Tracker* tracker) 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 = 3.5; - config->ransac_max_inlier_error = 3.5; - config->ransac_max_mean_error = 3; - config->ransac_abs_max_mean_error = 5; + config->ransac_max_reprojection_error = 2.8; + config->ransac_max_inlier_error = 2.8; + config->ransac_max_mean_error = 2.3; + config->ransac_abs_max_mean_error = 3.5; config->debug = 0; - config->ransac_min_features = 0.88; + config->ransac_min_features = 0.9; if (tracker) { tracker->enableRX = iniFile.value("enable-rx", true).toBool(); diff --git a/bin/tracker-ht/head.raw b/bin/tracker-ht/head.raw index 73f98935..98e4dd78 100644 --- a/bin/tracker-ht/head.raw +++ b/bin/tracker-ht/head.raw @@ -1,7 +1,7 @@ -6.879488 16.369503 -6.342554 -5.632996 -4.550716 25.508436 -2.879492 27.414343 3.478956 --25.718199 -8.213475 -0.346803 -15.509010 -31.570152 10.351113 -10.186131 -14.557302 6.319825 +-25.718199 -8.213475 -3.215088 -15.509010 -31.570152 8.423428 -12.387653 -21.593750 7.616004 -5.632996 -4.550716 25.508436 0.072291 24.939127 3.957952 -2.879492 27.414343 3.478956 --28.052271 14.484056 -11.582376 -25.718199 -8.213475 -0.346803 -6.879488 16.369503 -6.342554 +-28.052271 14.484056 -11.582376 -25.718199 -8.213475 -3.215088 -19.426867 -0.003800 -2.349130 -26.803236 40.905388 -8.717939 -28.275431 30.114319 -6.703632 -18.276705 30.752459 -0.828288 0.032860 42.487907 -2.175172 -18.276705 30.752459 -0.828288 -2.879492 27.414343 3.478956 0.137085 -6.962950 25.974054 -5.632996 -4.550716 25.508436 -10.186131 -14.557302 6.319825 @@ -11,14 +11,20 @@ 0.032860 42.487907 -2.175172 -26.803236 40.905388 -8.717939 -18.276705 30.752459 -0.828288 -5.632996 -4.550716 25.508436 0.030790 -0.766475 26.520433 0.072291 24.939127 3.957952 0.032860 42.487907 -2.175172 -2.879492 27.414343 3.478956 0.072291 24.939127 3.957952 --10.186131 -14.557302 6.319825 -15.509010 -31.570152 10.351113 -0.087233 -20.572937 11.676682 --10.186131 -14.557302 6.319825 -6.879488 16.369503 -6.342554 -25.718199 -8.213475 -0.346803 --15.509010 -31.570152 10.351113 -0.087233 -20.572937 11.676682 0.020257 -36.463058 13.961480 +-12.387653 -21.593750 7.616004 -15.509010 -31.570152 8.423428 -7.920530 -26.219366 10.996079 +-25.718199 -8.213475 -3.215088 -10.186131 -14.557302 6.319825 -19.426867 -0.003800 -2.349130 +-15.509010 -31.570152 8.423428 -7.920530 -26.219366 10.996079 -0.087233 -20.572937 11.676682 +-0.087233 -20.572937 11.676682 0.020257 -36.463058 13.961480 -15.509010 -31.570152 8.423428 -10.186131 -14.557302 6.319825 -5.632996 -4.550716 25.508436 -6.879488 16.369503 -6.342554 +-10.186131 -14.557302 6.319825 -25.718199 -8.213475 -3.215088 -12.387653 -21.593750 7.616004 +-10.186131 -14.557302 6.319825 -12.387653 -21.593750 7.616004 -7.920530 -26.219366 10.996079 +-7.920530 -26.219366 10.996079 -0.087233 -20.572937 11.676682 -10.186131 -14.557302 6.319825 +-10.186131 -14.557302 6.319825 -6.879488 16.369503 -6.342554 -19.426867 -0.003800 -2.349130 +-6.879488 16.369503 -6.342554 -28.052271 14.484056 -11.582376 -19.426867 -0.003800 -2.349130 6.879488 16.369503 -6.342554 2.879492 27.414343 3.478956 5.632996 -4.550716 25.508436 -25.718199 -8.213475 -0.346803 10.186131 -14.557302 6.319825 15.509010 -31.570152 10.351113 +25.718199 -8.213475 -3.215088 12.387653 -21.593750 7.616004 15.509010 -31.570152 8.423428 5.632996 -4.550716 25.508436 2.879492 27.414343 3.478956 0.072291 24.939127 3.957952 -28.052271 14.484056 -11.582376 6.879488 16.369503 -6.342554 25.718199 -8.213475 -0.346803 +28.052271 14.484056 -11.582376 19.426867 -0.003800 -2.349130 25.718199 -8.213475 -3.215088 26.803236 40.905388 -8.717939 18.276705 30.752459 -0.828288 28.275431 30.114319 -6.703632 0.032860 42.487907 -2.175172 2.879492 27.414343 3.478956 18.276705 30.752459 -0.828288 10.186131 -14.557302 6.319825 5.632996 -4.550716 25.508436 0.137085 -6.962950 25.974054 @@ -28,7 +34,13 @@ 0.032860 42.487907 -2.175172 18.276705 30.752459 -0.828288 26.803236 40.905388 -8.717939 5.632996 -4.550716 25.508436 0.072291 24.939127 3.957952 0.030790 -0.766475 26.520433 0.032860 42.487907 -2.175172 0.072291 24.939127 3.957952 2.879492 27.414343 3.478956 -10.186131 -14.557302 6.319825 -0.087233 -20.572937 11.676682 15.509010 -31.570152 10.351113 -10.186131 -14.557302 6.319825 25.718199 -8.213475 -0.346803 6.879488 16.369503 -6.342554 -15.509010 -31.570152 10.351113 0.020257 -36.463058 13.961480 -0.087233 -20.572937 11.676682 +12.387653 -21.593750 7.616004 7.920530 -26.219366 10.996079 15.509010 -31.570152 8.423428 +25.718199 -8.213475 -3.215088 19.426867 -0.003800 -2.349130 10.186131 -14.557302 6.319825 +15.509010 -31.570152 8.423428 0.020257 -36.463058 13.961480 -0.087233 -20.572937 11.676682 +-0.087233 -20.572937 11.676682 7.920530 -26.219366 10.996079 15.509010 -31.570152 8.423428 10.186131 -14.557302 6.319825 6.879488 16.369503 -6.342554 5.632996 -4.550716 25.508436 +10.186131 -14.557302 6.319825 12.387653 -21.593750 7.616004 25.718199 -8.213475 -3.215088 +10.186131 -14.557302 6.319825 -0.087233 -20.572937 11.676682 7.920530 -26.219366 10.996079 +7.920530 -26.219366 10.996079 12.387653 -21.593750 7.616004 10.186131 -14.557302 6.319825 +10.186131 -14.557302 6.319825 19.426867 -0.003800 -2.349130 6.879488 16.369503 -6.342554 +6.879488 16.369503 -6.342554 19.426867 -0.003800 -2.349130 28.052271 14.484056 -11.582376 |