From a4a77041f1fc9ca67c849392c31c6b8608d52567 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 11 Apr 2022 20:25:36 +0200
Subject: [PATCH] Tune detector and klt tracker
---
yaml/demo_visual_odometry_euroc.yaml | 2 +-
yaml/processor_visual_odometry.yaml | 14 +++++++-------
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 0be3673..ff9b713 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -4,7 +4,7 @@ config:
profiling: true
profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
print_problem: true
- print_depth: 2 # only if print_problem
+ print_depth: 3 # only if print_problem
print_constr_by: false # only if print_problem
print_metric: false # only if print_problem
print_state_blocks: false # only if print_problem
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index fdcacde..7cc9dbb 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -3,17 +3,17 @@ algorithm:
voting_active: true
klt_params:
- patch_width: 21
- patch_height: 21
- nlevels_pyramids: 3
- klt_max_err: 0.2
+ patch_width: 15
+ patch_height: 15
+ nlevels_pyramids: 5
+ klt_max_err: 0.5
fast_params:
- threshold_fast: 30
+ threshold_fast: 50
non_max_suppresion: true
-min_nb_tracks: 30
-max_nb_tracks: 50
+min_nb_tracks: 50
+max_nb_tracks: 100
std_pix: 1
--
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