From 7780cc23ee2ae4c22b04c5b89109cfd2be32385c Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Sat, 16 Apr 2022 11:31:22 +0200
Subject: [PATCH] Add active search related parameters
---
yaml/processor_visual_odometry.yaml | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 7ea4076..46c9eac 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
--
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