diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml index 7ea4076c5f601a044f2ebbdbd88c2de61b2a07dc..46c9eac9f5eb8dc0bb0f1175ce039d80fccf3d1d 100644 --- a/yaml/processor_visual_odometry.yaml +++ b/yaml/processor_visual_odometry.yaml @@ -21,7 +21,14 @@ fast_params: threshold_fast: 20 # Avoids getting multiple keypoints at the same place non_max_suppresion: true - + # number of cells used by the active search grid data structure + active_search_grid_nb_h: 8 # horizontal + active_search_grid_nb_v: 8 # vertical + # minimum margin of the region of interest from the edges of the image + active_search_margin: 10 + # reduce the size of each region of interest by n pixels to prevent keypoints from being too close + active_search_separation: 10 + # Lucas Kanade tracking parameters klt_params: patch_width: 11