From ae6aa5ea48c1c95fbb5bdc166600e185a79f9c7c Mon Sep 17 00:00:00 2001 From: muskie0802 Date: Sun, 29 Apr 2018 20:14:29 +0900 Subject: [PATCH] Corrected Keyframe parameters --- src/util/settings.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/util/settings.cpp b/src/util/settings.cpp index 486cba580..9d79bcd20 100644 --- a/src/util/settings.cpp +++ b/src/util/settings.cpp @@ -24,6 +24,7 @@ #include "util/settings.h" +#include "globalCalib.h" #include @@ -35,9 +36,9 @@ int pyrLevelsUsed = PYR_LEVELS; /* Parameters controlling when KF's are taken */ float setting_keyframesPerSecond = 0; // if !=0, takes a fixed number of KF per second. bool setting_realTimeMaxKF = false; // if true, takes as many KF's as possible (will break the system if the camera stays stationary) -float setting_maxShiftWeightT= 0.04f * (640+480); -float setting_maxShiftWeightR= 0.0f * (640+480); -float setting_maxShiftWeightRT= 0.02f * (640+480); +float setting_maxShiftWeightT= 0.04f * (wG[0]+hG[0]); +float setting_maxShiftWeightR= 0.0f * (wG[0]+hG[0]); +float setting_maxShiftWeightRT= 0.02f * (wG[0]+hG[0]); float setting_kfGlobalWeight = 1; // general weight on threshold, the larger the more KF's are taken (e.g., 2 = double the amount of KF's). float setting_maxAffineWeight= 2;