RealSense_T265.yaml 2.1 KB

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  1. %YAML:1.0
  2. #--------------------------------------------------------------------------------------------
  3. # Camera Parameters. Adjust them!
  4. #--------------------------------------------------------------------------------------------
  5. File.version: "1.0"
  6. Camera.type: "KannalaBrandt8"
  7. # Left Camera calibration and distortion parameters (OpenCV)
  8. Camera1.fx: 284.9501953125
  9. Camera1.fy: 285.115295410156
  10. Camera1.cx: 420.500213623047
  11. Camera1.cy: 400.738098144531
  12. # Kannala-Brandt distortion parameters
  13. Camera1.k1: -0.00530046410858631
  14. Camera1.k2: 0.0423333682119846
  15. Camera1.k3: -0.03949885815382
  16. Camera1.k4: 0.00682387687265873
  17. # Camera resolution
  18. Camera.width: 848
  19. Camera.height: 800
  20. # Camera frames per second
  21. Camera.fps: 30
  22. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
  23. Camera.RGB: 1
  24. #--------------------------------------------------------------------------------------------
  25. # ORB Parameters
  26. #--------------------------------------------------------------------------------------------
  27. # ORB Extractor: Number of features per image
  28. ORBextractor.nFeatures: 1000 # Tested with 1250
  29. # ORB Extractor: Scale factor between levels in the scale pyramid
  30. ORBextractor.scaleFactor: 1.2
  31. # ORB Extractor: Number of levels in the scale pyramid
  32. ORBextractor.nLevels: 8
  33. # ORB Extractor: Fast threshold
  34. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
  35. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
  36. # You can lower these values if your images have low contrast
  37. ORBextractor.iniThFAST: 20 # 20
  38. ORBextractor.minThFAST: 7 # 7
  39. #--------------------------------------------------------------------------------------------
  40. # Viewer Parameters
  41. #--------------------------------------------------------------------------------------------
  42. Viewer.KeyFrameSize: 0.05
  43. Viewer.KeyFrameLineWidth: 1.0
  44. Viewer.GraphLineWidth: 0.9
  45. Viewer.PointSize: 2.0
  46. Viewer.CameraSize: 0.08
  47. Viewer.CameraLineWidth: 3.0
  48. Viewer.ViewpointX: 0.0
  49. Viewer.ViewpointY: -0.7
  50. Viewer.ViewpointZ: -3.5
  51. Viewer.ViewpointF: 500.0