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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 1.9 KB
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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: "Rectified"
    9. 

  9. 

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

  11. Camera1.fx: 721.5377
    12. 

  12. Camera1.fy: 721.5377
    13. 

  13. Camera1.cx: 609.5593
    14. 

  14. Camera1.cy: 172.854
    15. 

  15. 

  16. Camera.width: 1241
    17. 

  17. Camera.height: 376
    18. 

  18. 

  19. # Camera frames per second 
    20. 

  20. Camera.fps: 10
    21. 

  21. 

  22. Stereo.b: 0.53715
    23. 

  23. 

  24. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    25. 

  25. Camera.RGB: 1
    26. 

  26. 

  27. # Close/Far threshold. Baseline times.
    28. 

  28. Stereo.ThDepth: 40.0
    29. 

  29. 

  30. #--------------------------------------------------------------------------------------------
    31. 

  31. # ORB Parameters
    32. 

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

  33. 

  34. # ORB Extractor: Number of features per image
    35. 

  35. ORBextractor.nFeatures: 2000
    36. 

  36. 

  37. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    38. 

  38. ORBextractor.scaleFactor: 1.2
    39. 

  39. 

  40. # ORB Extractor: Number of levels in the scale pyramid	
    41. 

  41. ORBextractor.nLevels: 8
    42. 

  42. 

  43. # ORB Extractor: Fast threshold
    44. 

  44. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    45. 

  45. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    46. 

  46. # You can lower these values if your images have low contrast			
    47. 

  47. ORBextractor.iniThFAST: 20
    48. 

  48. ORBextractor.minThFAST: 7
    49. 

  49. 

  50. #--------------------------------------------------------------------------------------------
    51. 

  51. # Viewer Parameters
    52. 

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

  53. Viewer.KeyFrameSize: 0.6
    54. 

  54. Viewer.KeyFrameLineWidth: 2.0
    55. 

  55. Viewer.GraphLineWidth: 1.0
    56. 

  56. Viewer.PointSize: 2.0
    57. 

  57. Viewer.CameraSize: 0.7
    58. 

  58. Viewer.CameraLineWidth: 3.0
    59. 

  59. Viewer.ViewpointX: 0.0
    60. 

  60. Viewer.ViewpointY: -100.0
    61. 

  61. Viewer.ViewpointZ: -0.1
    62. 

  62. Viewer.ViewpointF: 2000.0
    63. 

  63.