From 205b82026b5408a5c7160349c710997230986dd8 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Tue, 19 Apr 2022 17:57:23 +0200
Subject: [PATCH] Added RANSAC as params

---
 yaml/processor_visual_odometry.yaml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 4b4c144..784003c 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
 
-- 
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