General tuning

yaml/processor_visual_odometry.yaml

@@ -7,10 +7,10 @@ keyframe_vote:
     min_features_for_keyframe: 25
 
 # Use a robust cost function
-apply_loss_function: true
+apply_loss_function: false
 
 # Select the best new Keypoints when performing detection
-max_new_features: 4
+max_new_features: 15
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -47,10 +47,10 @@ ransac_params:
     ransac_thresh: 1
 
 # Keep the number of tracks below 
-max_nb_tracks: 30
+max_nb_tracks: 30 # not used currently
 
 # standard deviation of the pixel reprojection factor 
-std_pix: 1
+std_pix: 2
 
 # before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 20
+min_track_length_for_landmark: 10

yaml/publisher_vision_debug.yaml

@@ -4,15 +4,15 @@ tracks:
     thickness: 1.5
     min_max_on_alive_tracks: true  
     color: "CYAN"                   # color of the tracks and feature_kfs
-    min_lum: 100                    # above 0
-    max_lum: 450                    # below 510
+    min_lum: 50                     # above 0
+    max_lum: 500                    # below 510
     feature_last:                   # features of the last frame
         thickness: -1               # -1 -> filled circle
-        size_pix: 2              
+        size_pix: 2          
         color: "RED"              
     feature_kfs:                    # features of the previous keyframes
         thickness: 0.1    
-        size_pix: 1    
+        size_pix: 2
     
 tracks_preprocess:                  
     show: true                     # tracks from the preprocess are visible or not
@@ -24,5 +24,5 @@ tracks_preprocess:
 landmarks:
     show_id: false
     size_id: 0.5
-    size_pix: 5
+    size_pix: 7
     color: "YELLOW"

yaml/solver.yaml

@@ -2,10 +2,10 @@ minimizer: "LEVENBERG_MARQUARDT"
 interrupt_on_problem_change: false
 min_num_iterations: 1
 max_num_iterations: 20
-function_tolerance: 1e-7
+function_tolerance: 1e-8
 gradient_tolerance: 1e-9
 use_nonmonotonic_steps: false
 period: 0.05                     
-n_threads: 4
+n_threads: 2
 compute_cov: false
 verbose: 0
\ No newline at end of file

yaml/tree_manager_sliding.yaml

 tree_manager:
   type: TreeManagerSlidingWindow
-  n_fix_first_frames: 1
+  n_fix_first_frames: 5
   n_frames: 20
   viral_remove_empty_parent: true