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ROS2-ORB-SLAM3
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Examples
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Monocular
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EuRoC.yaml

EuRoC.yaml 2.6 KB
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  1. %YAML:1.0
    2. 

  2. 

  3. #--------------------------------------------------------------------------------------------
    4. 

  4. # System config
    5. 

  5. #--------------------------------------------------------------------------------------------
    6. 

  6. 

  7. # When the variables are commented, the system doesn't load a previous session or not store the current one
    8. 

  8. 

  9. # If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
    10. 

  10. #System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
    11. 

  11. 

  12. # The store file is created from the current session, if a file with the same name exists it is deleted
    13. 

  13. #System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
    14. 

  14. 

  15. #--------------------------------------------------------------------------------------------
    16. 

  16. # Camera Parameters. Adjust them!
    17. 

  17. #--------------------------------------------------------------------------------------------
    18. 

  18. File.version: "1.0"
    19. 

  19. 

  20. Camera.type: "PinHole"
    21. 

  21. 

  22. # Camera calibration and distortion parameters (OpenCV) 
    23. 

  23. Camera1.fx: 458.654
    24. 

  24. Camera1.fy: 457.296
    25. 

  25. Camera1.cx: 367.215
    26. 

  26. Camera1.cy: 248.375
    27. 

  27. 

  28. Camera1.k1: -0.28340811
    29. 

  29. Camera1.k2: 0.07395907
    30. 

  30. Camera1.p1: 0.00019359
    31. 

  31. Camera1.p2: 1.76187114e-05
    32. 

  32. 

  33. Camera.width: 752
    34. 

  34. Camera.height: 480
    35. 

  35. 

  36. Camera.newWidth: 600
    37. 

  37. Camera.newHeight: 350
    38. 

  38. 

  39. # Camera frames per second 
    40. 

  40. Camera.fps: 20
    41. 

  41. 

  42. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    43. 

  43. Camera.RGB: 1
    44. 

  44. 

  45. #--------------------------------------------------------------------------------------------
    46. 

  46. # ORB Parameters
    47. 

  47. #--------------------------------------------------------------------------------------------
    48. 

  48. 

  49. # ORB Extractor: Number of features per image
    50. 

  50. ORBextractor.nFeatures: 1000
    51. 

  51. 

  52. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    53. 

  53. ORBextractor.scaleFactor: 1.2
    54. 

  54. 

  55. # ORB Extractor: Number of levels in the scale pyramid	
    56. 

  56. ORBextractor.nLevels: 8
    57. 

  57. 

  58. # ORB Extractor: Fast threshold
    59. 

  59. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    60. 

  60. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    61. 

  61. # You can lower these values if your images have low contrast			
    62. 

  62. ORBextractor.iniThFAST: 20
    63. 

  63. ORBextractor.minThFAST: 7
    64. 

  64. 

  65. #--------------------------------------------------------------------------------------------
    66. 

  66. # Viewer Parameters
    67. 

  67. #---------------------------------------------------------------------------------------------
    68. 

  68. Viewer.KeyFrameSize: 0.05
    69. 

  69. Viewer.KeyFrameLineWidth: 1.0
    70. 

  70. Viewer.GraphLineWidth: 0.9
    71. 

  71. Viewer.PointSize: 2.0
    72. 

  72. Viewer.CameraSize: 0.08
    73. 

  73. Viewer.CameraLineWidth: 3.0
    74. 

  74. Viewer.ViewpointX: 0.0
    75. 

  75. Viewer.ViewpointY: -0.7
    76. 

  76. Viewer.ViewpointZ: -1.8
    77. 

  77. Viewer.ViewpointF: 500.0
    78. 

  78.