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ROS2-ORB-SLAM3
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ROS2-ORB-SLAM3
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Examples
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Monocular
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TUM1.yaml

TUM1.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. Camera.type: "PinHole"
    7. 

  7. 

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

  9. Camera.fx: 517.306408
    10. 

  10. Camera.fy: 516.469215
    11. 

  11. Camera.cx: 318.643040
    12. 

  12. Camera.cy: 255.313989
    13. 

  13. 

  14. Camera.k1: 0.262383
    15. 

  15. Camera.k2: -0.953104
    16. 

  16. Camera.p1: -0.005358
    17. 

  17. Camera.p2: 0.002628
    18. 

  18. Camera.k3: 1.163314
    19. 

  19. 

  20. # Camera frames per second 
    21. 

  21. Camera.fps: 30.0
    22. 

  22. 

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

  24. Camera.RGB: 1
    25. 

  25. 

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

  27. # ORB Parameters
    28. 

  28. #--------------------------------------------------------------------------------------------
    29. 

  29. 

  30. # ORB Extractor: Number of features per image
    31. 

  31. ORBextractor.nFeatures: 1000
    32. 

  32. 

  33. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    34. 

  34. ORBextractor.scaleFactor: 1.2
    35. 

  35. 

  36. # ORB Extractor: Number of levels in the scale pyramid	
    37. 

  37. ORBextractor.nLevels: 8
    38. 

  38. 

  39. # ORB Extractor: Fast threshold
    40. 

  40. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    41. 

  41. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    42. 

  42. # You can lower these values if your images have low contrast			
    43. 

  43. ORBextractor.iniThFAST: 20
    44. 

  44. ORBextractor.minThFAST: 7
    45. 

  45. 

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

  47. # Viewer Parameters
    48. 

  48. #--------------------------------------------------------------------------------------------
    49. 

  49. Viewer.KeyFrameSize: 0.05
    50. 

  50. Viewer.KeyFrameLineWidth: 1
    51. 

  51. Viewer.GraphLineWidth: 0.9
    52. 

  52. Viewer.PointSize:2
    53. 

  53. Viewer.CameraSize: 0.08
    54. 

  54. Viewer.CameraLineWidth: 3
    55. 

  55. Viewer.ViewpointX: 0
    56. 

  56. Viewer.ViewpointY: -0.7
    57. 

  57. Viewer.ViewpointZ: -1.8
    58. 

  58. Viewer.ViewpointF: 500
    59. 

  59.