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ROS2-ORB-SLAM3
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Examples
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Stereo
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KITTI03.yaml

KITTI03.yaml 2.0 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Camera Parameters. Adjust them!
    5. 

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

  6. Camera.type: "PinHole"
    7. 

  7. 

  8. # Camera calibration and distortion parameters (OpenCV) 
    9. 

  9. Camera.fx: 721.5377
    10. 

  10. Camera.fy: 721.5377
    11. 

  11. Camera.cx: 609.5593
    12. 

  12. Camera.cy: 172.854
    13. 

  13. 

  14. Camera.k1: 0.0
    15. 

  15. Camera.k2: 0.0
    16. 

  16. Camera.p1: 0.0
    17. 

  17. Camera.p2: 0.0
    18. 

  18. 

  19. Camera.bFishEye: 0
    20. 

  20. 

  21. Camera.width: 1241
    22. 

  22. Camera.height: 376
    23. 

  23. 

  24. # Camera frames per second 
    25. 

  25. Camera.fps: 10.0
    26. 

  26. 

  27. # stereo baseline times fx
    28. 

  28. Camera.bf: 387.5744
    29. 

  29. 

  30. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    31. 

  31. Camera.RGB: 1
    32. 

  32. 

  33. # Close/Far threshold. Baseline times.
    34. 

  34. ThDepth: 40
    35. 

  35. 

  36. #--------------------------------------------------------------------------------------------
    37. 

  37. # ORB Parameters
    38. 

  38. #--------------------------------------------------------------------------------------------
    39. 

  39. 

  40. # ORB Extractor: Number of features per image
    41. 

  41. ORBextractor.nFeatures: 2000
    42. 

  42. 

  43. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    44. 

  44. ORBextractor.scaleFactor: 1.2
    45. 

  45. 

  46. # ORB Extractor: Number of levels in the scale pyramid	
    47. 

  47. ORBextractor.nLevels: 8
    48. 

  48. 

  49. # ORB Extractor: Fast threshold
    50. 

  50. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    51. 

  51. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    52. 

  52. # You can lower these values if your images have low contrast			
    53. 

  53. ORBextractor.iniThFAST: 20
    54. 

  54. ORBextractor.minThFAST: 7
    55. 

  55. 

  56. #--------------------------------------------------------------------------------------------
    57. 

  57. # Viewer Parameters
    58. 

  58. #--------------------------------------------------------------------------------------------
    59. 

  59. Viewer.KeyFrameSize: 0.6
    60. 

  60. Viewer.KeyFrameLineWidth: 2
    61. 

  61. Viewer.GraphLineWidth: 1
    62. 

  62. Viewer.PointSize:2
    63. 

  63. Viewer.CameraSize: 0.7
    64. 

  64. Viewer.CameraLineWidth: 3
    65. 

  65. Viewer.ViewpointX: 0
    66. 

  66. Viewer.ViewpointY: -100
    67. 

  67. Viewer.ViewpointZ: -0.1
    68. 

  68. Viewer.ViewpointF: 2000
    69. 

  69.