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ROS2-ORB-SLAM3
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Examples
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Monocular
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TUM_512.yaml

TUM_512.yaml 2.3 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Camera Parameters. Adjust them!
    5. 

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

  6. Camera.type: "KannalaBrandt8"
    7. 

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

  8. Camera.fx: 190.978477 # 190.97847715128717
    9. 

  9. Camera.fy: 190.973307 # 190.9733070521226
    10. 

  10. Camera.cx: 254.931706 # 254.93170605935475
    11. 

  11. Camera.cy: 256.897442 # 256.8974428996504
    12. 

  12. 

  13. # Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
    14. 

  14. # Camera.bFishEye: 1
    15. 

  15. Camera.k1: 0.003482389402 # 0.0034823894022493434
    16. 

  16. Camera.k2: 0.000715034845 # 0.0007150348452162257
    17. 

  17. Camera.k3: -0.002053236141 # -0.0020532361418706202
    18. 

  18. Camera.k4: 0.000202936736 # 0.00020293673591811182
    19. 

  19.     
    20. 

  20. # Camera resolution
    21. 

  21. Camera.width: 512
    22. 

  22. Camera.height: 512
    23. 

  23. 

  24. # Camera frames per second 
    25. 

  25. Camera.fps: 20.0
    26. 

  26. 

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

  28. Camera.RGB: 1
    29. 

  29. 

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

  31. # ORB Parameters
    32. 

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

  33. 

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

  35. ORBextractor.nFeatures: 1500 # Tested with 1250
    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. ORBextractor.iniThFAST: 20 # 20
    50. 

  50. ORBextractor.minThFAST: 7 # 7
    51. 

  51. 

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

  53. # Viewer Parameters
    54. 

  54. #--------------------------------------------------------------------------------------------
    55. 

  55. Viewer.KeyFrameSize: 0.05
    56. 

  56. Viewer.KeyFrameLineWidth: 1
    57. 

  57. Viewer.GraphLineWidth: 0.9
    58. 

  58. Viewer.PointSize: 2
    59. 

  59. Viewer.CameraSize: 0.08
    60. 

  60. Viewer.CameraLineWidth: 3
    61. 

  61. Viewer.ViewpointX: 0
    62. 

  62. Viewer.ViewpointY: -0.7
    63. 

  63. Viewer.ViewpointZ: -3.5 # -1.8
    64. 

  64. Viewer.ViewpointF: 500
    65.