summaryrefslogtreecommitdiffhomepage
path: root/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp')
-rw-r--r--FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp16
1 files changed, 8 insertions, 8 deletions
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
index 90dc08e9..8d45a9d9 100644
--- a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
+++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
@@ -23,20 +23,20 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
config->pyrlk_pyramids = 3;
config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
config->max_keypoints = 250;
- config->keypoint_quality = 31;
- config->keypoint_distance = 3.9;
- config->keypoint_3distance = 12;
+ config->keypoint_quality = 12;
+ config->keypoint_distance = 2.1;
+ config->keypoint_3distance = 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 = 7;
- config->ransac_max_inlier_error = 7;
- config->ransac_max_mean_error = 5;
- config->ransac_abs_max_mean_error = 7;
+ 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->debug = 0;
- config->ransac_min_features = 0.90;
+ config->ransac_min_features = 0.88;
if (tracker)
{
tracker->enableRX = iniFile.value("enable-rx", true).toBool();