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ROS2-ORB-SLAM3
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Examples
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Monocular
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TUM-VI.yaml

TUM-VI.yaml 2.1 KB
Előzmények Nyers

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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: "KannalaBrandt8"
    9. 

  9. 

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

  11. Camera1.fx: 190.978477
    12. 

  12. Camera1.fy: 190.973307
    13. 

  13. Camera1.cx: 254.931706
    14. 

  14. Camera1.cy: 256.897442
    15. 

  15. 

  16. # Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
    17. 

  17. Camera1.k1: 0.003482389402
    18. 

  18. Camera1.k2: 0.000715034845
    19. 

  19. Camera1.k3: -0.002053236141
    20. 

  20. Camera1.k4: 0.000202936736
    21. 

  21.     
    22. 

  22. # Camera resolution
    23. 

  23. Camera.width: 512
    24. 

  24. Camera.height: 512
    25. 

  25. 

  26. # Camera frames per second 
    27. 

  27. Camera.fps: 20
    28. 

  28. 

  29. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    30. 

  30. Camera.RGB: 1
    31. 

  31. 

  32. #--------------------------------------------------------------------------------------------
    33. 

  33. # ORB Parameters
    34. 

  34. #--------------------------------------------------------------------------------------------
    35. 

  35. 

  36. # ORB Extractor: Number of features per image
    37. 

  37. ORBextractor.nFeatures: 1500 # Tested with 1250
    38. 

  38. 

  39. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    40. 

  40. ORBextractor.scaleFactor: 1.2
    41. 

  41. 

  42. # ORB Extractor: Number of levels in the scale pyramid	
    43. 

  43. ORBextractor.nLevels: 8
    44. 

  44. 

  45. # ORB Extractor: Fast threshold
    46. 

  46. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    47. 

  47. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    48. 

  48. # You can lower these values if your images have low contrast
    49. 

  49. ORBextractor.iniThFAST: 20
    50. 

  50. ORBextractor.minThFAST: 7
    51. 

  51. 

  52. #--------------------------------------------------------------------------------------------
    53. 

  53. # Viewer Parameters
    54. 

  54. #--------------------------------------------------------------------------------------------
    55. 

  55. Viewer.KeyFrameSize: 0.05
    56. 

  56. Viewer.KeyFrameLineWidth: 1.0
    57. 

  57. Viewer.GraphLineWidth: 0.9
    58. 

  58. Viewer.PointSize: 2.0
    59. 

  59. Viewer.CameraSize: 0.08
    60. 

  60. Viewer.CameraLineWidth: 3.0
    61. 

  61. Viewer.ViewpointX: 0.0
    62. 

  62. Viewer.ViewpointY: -0.7
    63. 

  63. Viewer.ViewpointZ: -3.5
    64. 

  64. Viewer.ViewpointF: 500.0
    65.