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特征点少并且速度很慢 #27

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xlong0513 opened this issue Dec 18, 2019 · 5 comments
Open

特征点少并且速度很慢 #27

xlong0513 opened this issue Dec 18, 2019 · 5 comments

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@xlong0513
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贺博好。我用了一个无人机航拍数据集，分辨率1920*1080，速度很慢并且特征点奇少。
请问速度慢是图像分辨率的问题么？ 特征点奇少并且跟丢是什么原因？如下图

2019-12-18 22-57-03屏幕截图
@HeYijia
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HeYijia commented Dec 19, 2019

需要修改参数，可以先添加特征点数目数目。

@xlong0513
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@HeYijia 谢贺博。我修改了config.cpp的max_fts和qualitu_min_fts,但是效果不大，特征点在某些图像中数量非常少。甚至跟丢

@xlong0513
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2019-12-20 11-19-28屏幕截图
大概是这样。

@HeYijia
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HeYijia commented Dec 21, 2019

先定位下问题是检测不到特征点还是特征点容易跟丢？
图像太大，像素分辨率高的情况下，你可以修改下金字塔跟踪的层数，以及修改下特征跟踪丢失的阈值。

@xlong0513
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好的，我试一下，谢贺博

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@HeYijia @xlong0513