Modify some parameters

src/examples/processor_image_ORB.yaml

@@ -8,7 +8,7 @@ image:
 detector-descriptor:
     type: "ORB"         # This affects the structure below. See processor_image_BRISK.yaml for another example
     nominal pattern radius: 2 # 0 # 18?
-    nfeatures: 5
+    nfeatures: 500
     scale factor: 1.2
     nlevels: 8
     edge threshold: 16
@@ -25,8 +25,8 @@ matcher:
         height: 200
 
 active search:
-    grid width: 16
-    grid height: 12
+    grid width: 8
+    grid height: 6
     separation: 0
 
 algorithm:

src/examples/test_processor_image_landmark.cpp

@@ -181,7 +181,7 @@ int main(int argc, char** argv)
         image_ptr->process();
 
         std::cout << "Time: " << ((double) clock() - t1) / CLOCKS_PER_SEC << "s" << std::endl;
-        cv::waitKey(0);
+        cv::waitKey(60);
 
         if((f%buffer_size) == 10)
         {

src/examples/test_tracker_ORB.cpp

@@ -43,7 +43,7 @@ int main(int argc, char** argv)
     cv::Feature2D* detector_descriptor_ptr_;
     cv::DescriptorMatcher* matcher_ptr_;
 
-    unsigned int nfeatures = 20;
+    unsigned int nfeatures = 500;
     float scaleFactor = 1.2;
     unsigned int nlevels = 8;
     unsigned int edgeThreshold = 16;