updated loc configs

rsoussan · Jul 4, 2024 · 339046b · 339046b
1 parent 8867b51
commit 339046b
Showing 1 changed file with 12 additions and 12 deletions.
diff --git a/astrobee/config/localization.config b/astrobee/config/localization.config
@@ -54,7 +54,7 @@ brisk_min_num_similar = 20
 brisk_max_num_similar = 20
 
 -- TEBLID512
-teblid512_num_similar = 20
+teblid512_num_similar = 18
 teblid512_min_query_score_ratio = 0.45
 teblid512_ransac_inlier_tolerance = 3
 teblid512_num_ransac_iterations = 1000
@@ -70,25 +70,25 @@ teblid512_use_clahe = true
 teblid512_num_extra_localization_db_images = 0
 
 -- Detection Params
-teblid512_min_threshold = 20.0
+teblid512_min_threshold = 30.0
 teblid512_default_threshold = 72.0
 teblid512_max_threshold = 110.0
 teblid512_min_features = 1000
-teblid512_max_features = 3000
-teblid512_too_many_ratio = 1.05 
+teblid512_max_features = 2750
+teblid512_too_many_ratio = 1.07 
 teblid512_too_few_ratio = 0.95
 teblid512_detection_retries = 1
 
 -- Localizer Threshold Params
 teblid512_success_history_size = 10
-teblid512_min_success_rate = 0.5
+teblid512_min_success_rate = 0.4
 teblid512_max_success_rate = 0.9
 teblid512_adjust_num_similar = true 
 teblid512_min_num_similar = 15
-teblid512_max_num_similar = 20
+teblid512_max_num_similar = 18
 
 -- TEBLID256
-teblid256_num_similar = 20
+teblid256_num_similar = 18
 teblid256_min_query_score_ratio = 0.45
 teblid256_ransac_inlier_tolerance = 3
 teblid256_num_ransac_iterations = 1000
@@ -104,19 +104,19 @@ teblid256_use_clahe = true
 teblid256_num_extra_localization_db_images = 0
 
 -- Detection Params
-teblid256_min_threshold = 20.0
+teblid256_min_threshold = 30.0
 teblid256_default_threshold = 72.0
 teblid256_max_threshold = 110.0
 teblid256_min_features = 1000
-teblid256_max_features = 3000
-teblid256_too_many_ratio = 1.05 
+teblid256_max_features = 2750
+teblid256_too_many_ratio = 1.07 
 teblid256_too_few_ratio = 0.95
 teblid256_detection_retries = 1
 
 -- Localizer Threshold Params
 teblid256_success_history_size = 10
-teblid256_min_success_rate = 0.5
+teblid256_min_success_rate = 0.4
 teblid256_max_success_rate = 0.9
 teblid256_adjust_num_similar = true 
 teblid256_min_num_similar = 15
-teblid256_max_num_similar = 20
+teblid256_max_num_similar = 18