From 71a85437ba0303dd2b9caacffc398f56a2bd218a Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 00:10:37 +0200
Subject: [PATCH] tune processor for speed

---
 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 7617501..4f58e66 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: 50
+    min_features_for_keyframe: 25
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 100
+max_new_features: 10
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -30,7 +30,7 @@ klt_params:
     klt_max_err:      0.3
 
 # Keep the number of tracks below 
-max_nb_tracks: 100
+max_nb_tracks: 50
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1
-- 
GitLab