Tweak the algorithm

src/trackers/image-tracker/image-tracker-utils.ts

@@ -285,9 +285,10 @@ export class ImageTrackerUtils
             }
 
             // compute the interpolation factor t = t(alpha, beta)
-            // t is alpha if beta is zero
+            // t is (clamped) alpha if beta is zero
+            const gamma = alpha * Math.pow(2, -beta);
             const f = 1 - Math.sqrt(d[i] / max); // f is zero when d[i] is max (hence, it minimizes t and contributes to src)
-            const g = alpha * (1 + beta * f);
+            const g = (alpha - gamma) * f + gamma;
             const t = Math.max(0, Math.min(g, 1)); // clamp
             const _t = 1 - t;
 

src/trackers/image-tracker/settings.ts

@@ -138,16 +138,16 @@ export const TRACK_RANSAC_REPROJECTIONERROR_NDC = TRACK_RANSAC_REPROJECTIONERROR
 export const TRACK_GRID_GRANULARITY = 15; //20; //10; // the value of N
 
 /** Used to identify the best maches */
-export const TRACK_MATCH_RATIO = 0.7; // usually a value in [0.6, 0.8] - low values => strict tracking
+export const TRACK_MATCH_RATIO = 0.65; // usually a value in [0.6, 0.8] - low values => strict tracking
 
 /** Number of consecutive frames in which we tolerate a  "target lost" situation */
 export const TRACK_LOST_TOLERANCE = 15;
 
 /** Interpolation filter: interpolation factor */
-export const TRACK_FILTER_ALPHA = 0.125;
+export const TRACK_FILTER_ALPHA = 0.2;
 
 /** Interpolation filter: correction strength for noisy corners */
 export const TRACK_FILTER_BETA = 1;
 
 /** Interpolation filter: translation factor */
-export const TRACK_FILTER_TAU = 0.25;
+export const TRACK_FILTER_TAU = 0.2;