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ROS2-ORB-SLAM3
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Examples
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Monocular
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TUM3.yaml

TUM3.yaml 1.8 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Camera Parameters. Adjust them!
    5. 

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

  6. 

  7. # Camera calibration and distortion parameters (OpenCV) 
    8. 

  8. Camera.fx: 535.4
    9. 

  9. Camera.fy: 539.2
    10. 

  10. Camera.cx: 320.1
    11. 

  11. Camera.cy: 247.6
    12. 

  12. 

  13. Camera.k1: 0.0
    14. 

  14. Camera.k2: 0.0
    15. 

  15. Camera.p1: 0.0
    16. 

  16. Camera.p2: 0.0
    17. 

  17. 

  18. # Camera frames per second 
    19. 

  19. Camera.fps: 30.0
    20. 

  20. 

  21. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    22. 

  22. Camera.RGB: 1
    23. 

  23. 

  24. #--------------------------------------------------------------------------------------------
    25. 

  25. # ORB Parameters
    26. 

  26. #--------------------------------------------------------------------------------------------
    27. 

  27. 

  28. # ORB Extractor: Number of features per image
    29. 

  29. ORBextractor.nFeatures: 1000
    30. 

  30. 

  31. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    32. 

  32. ORBextractor.scaleFactor: 1.2
    33. 

  33. 

  34. # ORB Extractor: Number of levels in the scale pyramid	
    35. 

  35. ORBextractor.nLevels: 8
    36. 

  36. 

  37. # ORB Extractor: Fast threshold
    38. 

  38. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    39. 

  39. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    40. 

  40. # You can lower these values if your images have low contrast			
    41. 

  41. ORBextractor.iniThFAST: 20
    42. 

  42. ORBextractor.minThFAST: 7
    43. 

  43. 

  44. #--------------------------------------------------------------------------------------------
    45. 

  45. # Viewer Parameters
    46. 

  46. #--------------------------------------------------------------------------------------------
    47. 

  47. Viewer.KeyFrameSize: 0.05
    48. 

  48. Viewer.KeyFrameLineWidth: 1
    49. 

  49. Viewer.GraphLineWidth: 0.9
    50. 

  50. Viewer.PointSize:2
    51. 

  51. Viewer.CameraSize: 0.08
    52. 

  52. Viewer.CameraLineWidth: 3
    53. 

  53. Viewer.ViewpointX: 0
    54. 

  54. Viewer.ViewpointY: -0.7
    55. 

  55. Viewer.ViewpointZ: -1.8
    56. 

  56. Viewer.ViewpointF: 500
    57. 

  57.