How to adjust the parameters in the RGB dataset? about dynamic_orb-slam HOT 4 OPEN

I used the default camera parameters used in ORB-SLAM2

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Thank you for your reply! Has your project improved in rgb-d dynamic? Why didn't my test improve? Such as fr3_xyz rpy. Or what needs to be modified? @FeliksBrant

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You are welcome! We have tested Dynamic Feature Filter on KITTI stereo datasets. And it shows improvement. The idea of Dynamic Feature Filter is to first estimate the velocity of each feature and then select features with low velocity for SLAM. Maybe you can follow the same procedure to test on rgb-d dynamic. But be careful with your feature velocity estimation and tune the velocity threshold.

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Thank you for your reply in your busy schedule.How to adjust feature velocity estimation and tune the velocity threshold？I have found the tune the velocity threshold. Could not find feature velocity estimation. Please tell me tune the velocity threshold. @FeliksBrant

// select static points
vel_ = pMP->velSmoother.getMeanSpeed();
if((vel_ < 1000) || (nmatches < minMatches)) //20.0 tune the velocity threshold
{
CurrentFrame.mvpMapPoints[bestIdx2]=pMP;
size_t match = 0;
while (match < distMat.size())
{
if ((distMat[match][1] == bestIdx) || (distMat[match][2] == bestIdx2))
{
distMat.erase(distMat.begin() + match);
}
else
{
match++;
}
}

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