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Commit c6a137ab authored by ydepledt's avatar ydepledt
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parents 9fdcece1 22413bb2
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...@@ -4,13 +4,13 @@ keyframe_vote: ...@@ -4,13 +4,13 @@ keyframe_vote:
voting_active: true voting_active: true
# Trigger a new keyframe creation as well as detection of new keypoints in last frame # 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 # when the track number goes below min_features_for_keyframe in incoming
min_features_for_keyframe: 30 min_features_for_keyframe: 25
# Use a robust cost function # Use a robust cost function
apply_loss_function: true apply_loss_function: true
# Select the best new Keypoints when performing detection # Select the best new Keypoints when performing detection
max_new_features: 5 max_new_features: 4
#################################### ####################################
# ProcessorVisualOdometry parameters # ProcessorVisualOdometry parameters
...@@ -24,8 +24,8 @@ fast_params: ...@@ -24,8 +24,8 @@ fast_params:
# Lucas Kanade tracking parameters # Lucas Kanade tracking parameters
klt_params: klt_params:
patch_width: 17 patch_width: 21
patch_height: 17 patch_height: 21
nlevels_pyramids: 3 nlevels_pyramids: 3
klt_max_err: 0.2 klt_max_err: 0.2
...@@ -35,9 +35,9 @@ grid_params: ...@@ -35,9 +35,9 @@ grid_params:
nbr_cells_h: 6 # horizontal nbr_cells_h: 6 # horizontal
nbr_cells_v: 5 # vertical nbr_cells_v: 5 # vertical
# minimum margin of the region of interest from the edges of the image # minimum margin of the region of interest from the edges of the image
margin: 6 margin: 10
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
separation: 6 separation: 10
# Keep the number of tracks below # Keep the number of tracks below
max_nb_tracks: 30 max_nb_tracks: 30
......
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