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- %YAML:1.0
- Camera.fx: 535.4
- Camera.fy: 539.2
- Camera.cx: 320.1
- Camera.cy: 247.6
- Camera.k1: 0.0
- Camera.k2: 0.0
- Camera.p1: 0.0
- Camera.p2: 0.0
- Camera.width: 640
- Camera.height: 480
- Camera.fps: 30.0
- Camera.bf: 40.0
- Camera.RGB: 1
- ThDepth: 40.0
- DepthMapFactor: 1.0
- ORBextractor.nFeatures: 1000
- ORBextractor.scaleFactor: 1.2
- ORBextractor.nLevels: 8
- ORBextractor.iniThFAST: 20
- ORBextractor.minThFAST: 7
- Viewer.KeyFrameSize: 0.05
- Viewer.KeyFrameLineWidth: 1
- Viewer.GraphLineWidth: 0.9
- Viewer.PointSize:2
- Viewer.CameraSize: 0.08
- Viewer.CameraLineWidth: 3
- Viewer.ViewpointX: 0
- Viewer.ViewpointY: -0.7
- Viewer.ViewpointZ: -1.8
- Viewer.ViewpointF: 500
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