From e0122c81bb861a4af0d8c8989c04a7223a32c6cf Mon Sep 17 00:00:00 2001
From: gfuse <majidgeravand68@gmail.com>
Date: Fri, 20 Aug 2021 15:53:16 +0200
Subject: [PATCH] increase relocalization limit

---
 GPU_version/vio/src/initialization.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index a881478..f24bb04 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -56,12 +56,12 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
       frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(),
       inliers_, xyz_in_cur_, T_cur_from_ref_);
 
-  if(inliers_.size() < Config::initMinInliers() && disparity < 80)
+  if(inliers_.size() < Config::initMinInliers() && disparity < 150)
   {
     SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
        <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required.");
       return NO_KEYFRAME;
-  }else if(inliers_.size() < Config::initMinInliers() && disparity > 80){
+  }else if(inliers_.size() < Config::initMinInliers() && disparity > 150){
       SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
                        <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required. Reinitialized");
       return FAILURE;