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changeset 775:56153d439f8c dev

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updated sample parameters in tracking.cfg to good parameters from the TRB paper Morse et al 2016
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 05 Feb 2016 12:28:18 -0500
parents b6d3bf350789
children 84420159c5f4
files tracking.cfg
diffstat 1 files changed, 8 insertions(+), 8 deletions(-) [+]
line wrap: on
line diff
--- a/tracking.cfg	Wed Feb 03 13:18:02 2016 -0500
+++ b/tracking.cfg	Fri Feb 05 12:28:18 2016 -0500
@@ -36,9 +36,9 @@
 # maximum number of features added at each frame
 max-nfeatures = 1000
 # quality level of the good features to track
-feature-quality = 0.1
+feature-quality = 0.0812219538558
 # minimum distance between features (px)
-min-feature-distanceklt = 5
+min-feature-distanceklt = 3.54964337411
 # size of the block for feature characteristics (px)
 block-size = 7
 # use of Harris corner detector
@@ -46,7 +46,7 @@
 # k parameter to detect good features to track (OpenCV)
 k = 0.4
 # size of the search window at each pyramid level (px)
-window-size = 7
+window-size = 6
 # maximal pyramid level in the feature tracking algorithm
 pyramid-level = 5
 # number of displacement to test minimum feature motion
@@ -64,22 +64,22 @@
 # maximum number of iterations to stop feature tracking
 max-number-iterations = 20
 # minimum error to reach to stop feature tracking
-min-tracking-error = 0.3
+min-tracking-error = 0.183328975142
 # minimum eigen value of a 2x2 normal matrix of optical flow equations
 min-feature-eig-threshold = 1e-4
 # minimum length of a feature (number of frames) to consider a feature for grouping
-min-feature-time = 20
+min-feature-time = 9
 # Min Max similarity parameters (Beymer et al. method)
 # connection distance in feature grouping (world distance unit or px)
-mm-connection-distance = 3.75
+mm-connection-distance = 2.68813545522
 # segmentation distance in feature grouping (world distance unit or px)
-mm-segmentation-distance = 1.5
+mm-segmentation-distance = 1.81511847456
 # maximum distance between features for grouping (world distance unit or px)
 max-distance = 5
 # minimum cosine of the angle between the velocity vectors for grouping
 min-velocity-cosine = 0.8
 # minimum average number of features per frame to create a vehicle hypothesis
-min-nfeatures-group = 3
+min-nfeatures-group = 3.16747690802
 # Road user classification
 # min number of pixels in cropped image to classify by SVM
 min-npixels-crop = 400