From 687f45ba8e6cbe05b761c7a19cbf01f07e447a08 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 24 Apr 2022 20:10:18 +0200
Subject: [PATCH] Use 30 tracks

---
 yaml/processor_visual_odometry.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 3db1b77..baaa05b 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: 25
+    min_features_for_keyframe: 30
 
 # Use a robust cost function
 apply_loss_function: false
 
 # Select the best new Keypoints when performing detection
-max_new_features: 15
+max_new_features: 30
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -33,7 +33,7 @@ klt_params:
 grid_params:
     # number of cells used by the active search grid data structure
     nbr_cells_h: 6  # horizontal
-    nbr_cells_v: 5  # vertical
+    nbr_cells_v: 6  # vertical
     # minimum margin of the region of interest from the edges of the image 
     margin: 10
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
-- 
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