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Parameter Settings
Christian Forster edited this page Jun 11, 2014
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A description of all parameters which can be set via the launchfile is provided in svo/include/config.h. The default parameters can be viewed in svo/src/config.cpp. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in svo_ros/vo_node.cpp.
The current keyframe selection criterion is designed for downward looking cameras. This is one reason why SVO does not work well for forward motions (e.g., to be used on a car).
The current parameters are tuned for WVGA resolution. If you use a higher resolution camera, then the pyramid levels should be increased as well as the reprojection error thresholds.