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Yes, those parameters can be set through rosparam, you'll have to replace hyphens with underscores though (see

I havn't played much with parameter settings. My first guess to get a higher rate would be:

  • decrease feature_window_size (could lead to false matches)
  • set use_subpixel_refinement to 0 (could lead to worse estimates)
  • if the features in your environment are small, you could lower max_pyramid_level (could lead to less features)

It is difficult to tune so many parameters at once. I would suggest you try different sets of parameters and compare the output.