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ROS2-ORB-SLAM3
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Examples
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Monocular
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KITTI00-02.yaml

KITTI00-02.yaml 1.9 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Camera Parameters. Adjust them!
    5. 

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

  6. File.version: "1.0"
    7. 

  7. 

  8. Camera.type: "PinHole"
    9. 

  9. 

  10. # Camera calibration and distortion parameters (OpenCV) 
    11. 

  11. Camera1.fx: 718.856
    12. 

  12. Camera1.fy: 718.856
    13. 

  13. Camera1.cx: 607.1928
    14. 

  14. Camera1.cy: 185.2157
    15. 

  15. 

  16. Camera1.k1: 0.0
    17. 

  17. Camera1.k2: 0.0
    18. 

  18. Camera1.p1: 0.0
    19. 

  19. Camera1.p2: 0.0
    20. 

  20. 

  21. # Camera frames per second 
    22. 

  22. Camera.fps: 10
    23. 

  23. 

  24. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    25. 

  25. Camera.RGB: 1
    26. 

  26. 

  27. # Camera resolution
    28. 

  28. Camera.width: 1241
    29. 

  29. Camera.height: 376
    30. 

  30. 

  31. #--------------------------------------------------------------------------------------------
    32. 

  32. # ORB Parameters
    33. 

  33. #--------------------------------------------------------------------------------------------
    34. 

  34. 

  35. # ORB Extractor: Number of features per image
    36. 

  36. ORBextractor.nFeatures: 2000
    37. 

  37. 

  38. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    39. 

  39. ORBextractor.scaleFactor: 1.2
    40. 

  40. 

  41. # ORB Extractor: Number of levels in the scale pyramid	
    42. 

  42. ORBextractor.nLevels: 8
    43. 

  43. 

  44. # ORB Extractor: Fast threshold
    45. 

  45. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    46. 

  46. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    47. 

  47. # You can lower these values if your images have low contrast			
    48. 

  48. ORBextractor.iniThFAST: 20
    49. 

  49. ORBextractor.minThFAST: 7
    50. 

  50. 

  51. #--------------------------------------------------------------------------------------------
    52. 

  52. # Viewer Parameters
    53. 

  53. #--------------------------------------------------------------------------------------------
    54. 

  54. Viewer.KeyFrameSize: 0.1
    55. 

  55. Viewer.KeyFrameLineWidth: 1.0
    56. 

  56. Viewer.GraphLineWidth: 1.0
    57. 

  57. Viewer.PointSize: 2.0
    58. 

  58. Viewer.CameraSize: 0.15
    59. 

  59. Viewer.CameraLineWidth: 2.0
    60. 

  60. Viewer.ViewpointX: 0.0
    61. 

  61. Viewer.ViewpointY: -10.0
    62. 

  62. Viewer.ViewpointZ: -0.1
    63. 

  63. Viewer.ViewpointF: 2000.0
    64. 

  64.