How to properly select the parameters

[albertarla]

Hi everyone,

I've been testing OpenVSLAM with different cameras, and I'm having troubles to choose the best parameters configuration for them. For example, I don't know how to choose the max_num_keypoints for a camera with 120 FoV horizontal vs a camera with 200 FoV horizontal, does the resolution has to be considered as well to choose that parameter? In this example, I'm using a stereo fisheye camera (2560X 960 @ 30Hz, 2560 for left and right images) to create a map and a more simple mono camera (1280 X 960 @ 30Hz) to localize on it.

What I would like to know is what are the most significant parameters to have in mind and how to choose them properly.

Also, is the only way to test a configuration with a ground truth? Do you have any experimental test to evaluate a configuration?

[albertarla]

#299 Solves the initial problem.