diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml index 4b4c1445f477130415c3e9922c18959d1034c8bb..784003cacaaf0a2c6cd36f717eb274d67b56f428 100644 --- a/yaml/processor_visual_odometry.yaml +++ b/yaml/processor_visual_odometry.yaml @@ -39,6 +39,13 @@ grid_params: # reduce the size of each region of interest by n pixels to prevent keypoints from being too close separation: 10 +ransac_params: + # specifies a desirable level of confidence (probability) that the estimated matrix is correct + ransac_prob: 0.999 + # maximum distance from a point to an epipolar line in pixels, beyond which the point + # is considered an outlier and is not used for computing the final fundamental matrix + ransac_thresh: 1 + # Keep the number of tracks below max_nb_tracks: 30