From fd9cf5b9b7e584e5a3bd5049f8aa39145aa18274 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 17 Apr 2022 18:39:57 +0200
Subject: [PATCH] Tune for more KFs (20) and control the nbr of tracks (30) for
good speed
---
yaml/processor_visual_odometry.yaml | 16 ++++++++--------
yaml/tree_manager_sliding.yaml | 3 +--
2 files changed, 9 insertions(+), 10 deletions(-)
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 59a88d7..bcfa29f 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: 25
+ min_features_for_keyframe: 30
#Â Use a robust cost function
apply_loss_function: true
# Select the best new Keypoints when performing detection
-max_new_features: 10
+max_new_features: 5
####################################
# ProcessorVisualOdometry parameters
@@ -24,16 +24,16 @@ fast_params:
# Lucas Kanade tracking parameters
klt_params:
- patch_width: 11
- patch_height: 11
+ patch_width: 17
+ patch_height: 17
nlevels_pyramids: 3
- klt_max_err: 0.3
+ klt_max_err: 0.2
# tesselation grid
grid_params:
# number of cells used by the active search grid data structure
- nbr_cells_h: 12 # horizontal
- nbr_cells_v: 10 # vertical
+ nbr_cells_h: 6 # horizontal
+ nbr_cells_v: 5 # vertical
# minimum margin of the region of interest from the edges of the image
margin: 6
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close
@@ -46,4 +46,4 @@ max_nb_tracks: 30
std_pix: 1
# before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 5
+min_track_length_for_landmark: 20
diff --git a/yaml/tree_manager_sliding.yaml b/yaml/tree_manager_sliding.yaml
index d1a08f4..fa6acb2 100644
--- a/yaml/tree_manager_sliding.yaml
+++ b/yaml/tree_manager_sliding.yaml
@@ -1,6 +1,5 @@
tree_manager:
type: TreeManagerSlidingWindow
n_fix_first_frames: 1
- n_frames: 10
+ n_frames: 20
viral_remove_empty_parent: true
-# type: "none"
\ No newline at end of file
--
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