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ROS2-ORB-SLAM3
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Examples
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RGB-D
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TUM3.yaml

TUM3.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: 535.4
    10. 

  10. Camera.fy: 539.2
    11. 

  11. Camera.cx: 320.1
    12. 

  12. Camera.cy: 247.6
    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.width: 640
    20. 

  20. Camera.height: 480
    21. 

  21. 

  22. # Camera frames per second 
    23. 

  23. Camera.fps: 30.0
    24. 

  24. 

  25. # IR projector baseline times fx (aprox.)
    26. 

  26. Camera.bf: 40.0
    27. 

  27. 

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

  29. Camera.RGB: 1
    30. 

  30. 

  31. # Close/Far threshold. Baseline times.
    32. 

  32. ThDepth: 40.0
    33. 

  33. 

  34. # Deptmap values factor
    35. 

  35. DepthMapFactor: 5000.0
    36. 

  36. 

  37. #--------------------------------------------------------------------------------------------
    38. 

  38. # ORB Parameters
    39. 

  39. #--------------------------------------------------------------------------------------------
    40. 

  40. 

  41. # ORB Extractor: Number of features per image
    42. 

  42. ORBextractor.nFeatures: 1000
    43. 

  43. 

  44. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    45. 

  45. ORBextractor.scaleFactor: 1.2
    46. 

  46. 

  47. # ORB Extractor: Number of levels in the scale pyramid	
    48. 

  48. ORBextractor.nLevels: 8
    49. 

  49. 

  50. # ORB Extractor: Fast threshold
    51. 

  51. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    52. 

  52. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    53. 

  53. # You can lower these values if your images have low contrast			
    54. 

  54. ORBextractor.iniThFAST: 20
    55. 

  55. ORBextractor.minThFAST: 7
    56. 

  56. 

  57. #--------------------------------------------------------------------------------------------
    58. 

  58. # Viewer Parameters
    59. 

  59. #--------------------------------------------------------------------------------------------
    60. 

  60. Viewer.KeyFrameSize: 0.05
    61. 

  61. Viewer.KeyFrameLineWidth: 1
    62. 

  62. Viewer.GraphLineWidth: 0.9
    63. 

  63. Viewer.PointSize:2
    64. 

  64. Viewer.CameraSize: 0.08
    65. 

  65. Viewer.CameraLineWidth: 3
    66. 

  66. Viewer.ViewpointX: 0
    67. 

  67. Viewer.ViewpointY: -0.7
    68. 

  68. Viewer.ViewpointZ: -1.8
    69. 

  69. Viewer.ViewpointF: 500
    70. 

  70.