From ff4fedcce1497e14f0b2bea33d147fd26aa4aa56 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 19 Jun 2019 14:33:34 +0300
Subject: [PATCH] Parameter tweaks
---
applications/registration/src/correspondances.cpp | 4 ++--
applications/registration/src/manual.cpp | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/applications/registration/src/correspondances.cpp b/applications/registration/src/correspondances.cpp
index 97ee6e535..9765a1530 100644
--- a/applications/registration/src/correspondances.cpp
+++ b/applications/registration/src/correspondances.cpp
@@ -123,8 +123,8 @@ bool Correspondances::capture(cv::Mat &rgb1, cv::Mat &rgb2) {
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
- averageDepth(buffer[0], d1, 0.00000004f);
- averageDepth(buffer[1], d2, 0.00000004f);
+ averageDepth(buffer[0], d1, 0.00000005f);
+ averageDepth(buffer[1], d2, 0.00000005f);
Mat d1_v, d2_v;
d1.convertTo(d1_v, CV_8U, 255.0f / 10.0f);
d2.convertTo(d2_v, CV_8U, 255.0f / 10.0f);
diff --git a/applications/registration/src/manual.cpp b/applications/registration/src/manual.cpp
index 09bccb16b..b92fa0162 100644
--- a/applications/registration/src/manual.cpp
+++ b/applications/registration/src/manual.cpp
@@ -326,7 +326,7 @@ void ftl::registration::manual(ftl::Configurable *root) {
lastScore = 1000.0;
do {
Eigen::Matrix4f tr;
- float s = current->findBestSubset(tr, 15, 10);
+ float s = current->findBestSubset(tr, 10, 10);
LOG(INFO) << "SCORE = " << s;
if (s < lastScore) {
lastScore = s;
--
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