From 3bebaf82744df8e68724f8e3d5aa658da685f38f Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 15 Apr 2022 11:25:51 +0200
Subject: [PATCH] move publisher vision debug params in a separate yaml
---
yaml/processor_visual_odometry.yaml | 8 ++++----
yaml/publisher_vision_debug.yaml | 8 ++++----
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index d6b49ea..7ea4076 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -4,13 +4,13 @@ keyframe_vote:
voting_active: true
# Trigger a new keyframe creation as well as detection of new keypoints in last frame
# when the track number goes below min_features_for_keyframe in incoming
- min_features_for_keyframe: 30
+ min_features_for_keyframe: 50
#Â Use a robust cost function
apply_loss_function: true
# Select the best new Keypoints when performing detection
-max_new_features: 30
+max_new_features: 100
####################################
# ProcessorVisualOdometry parameters
@@ -30,10 +30,10 @@ klt_params:
klt_max_err: 0.3
# Keep the number of tracks below
-max_nb_tracks: 60
+max_nb_tracks: 100
# standard deviation of the pixel reprojection factor
std_pix: 1
# before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 3
+min_track_length_for_landmark: 5
diff --git a/yaml/publisher_vision_debug.yaml b/yaml/publisher_vision_debug.yaml
index e53cb06..cfb1ba5 100644
--- a/yaml/publisher_vision_debug.yaml
+++ b/yaml/publisher_vision_debug.yaml
@@ -9,9 +9,9 @@ tracks:
thickness: -1
size_pix: 2
color: "RED"
-feature_kfs:
- thickness: 0.1
- size_pix: 1
+ feature_kfs:
+ thickness: 0.1
+ size_pix: 1
tracks_preprocess:
show: false
@@ -23,4 +23,4 @@ landmarks:
show_id: false
size_id: 0.5
size_pix: 5
- color: "GREY"
\ No newline at end of file
+ color: "GREY"
--
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