What are good parameters for VO?

[antopost]

What are good parameters for VO?

[luigifreda]

Hi,
thanks for your feedback. I agree with you. Local features are just a part of the system. In general, many related parameters should be properly tuned according to the adopted local features and matcher since the data association error statistics (and other implied data distribution models) change over the different choices.
As for the main_slam.py subsystem, there are these other parameters too:
https://github.com/luigifreda/pyslam/blob/5e860f0e22c3673dae19c4d52e6cb40f968ce9e7/parameters.py

Fine-tuning such parameters is a black magic art and does require a proper evaluation SW to support the analysis and the tuning itself. This is something to add to the TODO list.

Please, if you run your evaluations on pyslam VO, recall this important note

Please, let me know if you have any plans in this regard.
Cheers,
Luigi