search

JakobEngel / dso

Direct Sparse Odometry
GNU General Public License v3.0
2.28k stars 907 forks source link

Parameters fine-tuning #195

Open lykius opened 5 years ago

lykius commented 5 years ago

Hi, I'm testing dso on some scenes extracted from Lyft Level5 dataset. I managed to make it work on some of these scenes, but it is often required to fine-tune the parameters involved in the optimization. Since I cannot make it work on a couple of scenes, I have a couple of questions.

1) I found the following parameters to be relevant in terms of results, is the following set complete or am I missing some fundamental parameter?

setting_desiredImmatureDensity
setting_desiredPointDensity
setting_minFrames
setting_maxFrames
setting_minOptIterations
setting_maxOptIterations
setting_minGradHistAdd

2) Would you be so kind to provide a sort of guideline to tune parameters when dso is not working at all?

Thanks in advance!!