Página Principal Explorar Ajuda
Iniciar Sessão
zjf
/
ROS2-ORB-SLAM3
1
0
Fork 0
Ficheiros Problemas 0 Pull Requests 0 Wiki
Árvore: ef9784101f
Ramos Etiquetas
ROS2-ORB-SLAM3
/
Examples
/
RGB-D
/
TUM2.yaml

TUM2.yaml 2.1 KB
Histórico Em bruto

1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374 
  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: 520.908620
    10. 

  10. Camera.fy: 521.007327
    11. 

  11. Camera.cx: 325.141442
    12. 

  12. Camera.cy: 249.701764
    13. 

  13. 

  14. Camera.k1: 0.231222
    15. 

  15. Camera.k2: -0.784899
    16. 

  16. Camera.p1: -0.003257
    17. 

  17. Camera.p2: -0.000105
    18. 

  18. Camera.k3: 0.917205
    19. 

  19. 

  20. Camera.width: 640
    21. 

  21. Camera.height: 480
    22. 

  22. 

  23. # Camera frames per second 
    24. 

  24. Camera.fps: 30.0
    25. 

  25. 

  26. # IR projector baseline times fx (aprox.)
    27. 

  27. Camera.bf: 40.0
    28. 

  28. 

  29. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    30. 

  30. Camera.RGB: 1
    31. 

  31. 

  32. # Close/Far threshold. Baseline times.
    33. 

  33. ThDepth: 40.0
    34. 

  34. 

  35. # Deptmap values factor 
    36. 

  36. DepthMapFactor: 5208.0
    37. 

  37. 

  38. Camera.width: 640
    39. 

  39. Camera.height: 480
    40. 

  40. 

  41. #--------------------------------------------------------------------------------------------
    42. 

  42. # ORB Parameters
    43. 

  43. #--------------------------------------------------------------------------------------------
    44. 

  44. 

  45. # ORB Extractor: Number of features per image
    46. 

  46. ORBextractor.nFeatures: 1000
    47. 

  47. 

  48. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    49. 

  49. ORBextractor.scaleFactor: 1.2
    50. 

  50. 

  51. # ORB Extractor: Number of levels in the scale pyramid	
    52. 

  52. ORBextractor.nLevels: 8
    53. 

  53. 

  54. # ORB Extractor: Fast threshold
    55. 

  55. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    56. 

  56. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    57. 

  57. # You can lower these values if your images have low contrast			
    58. 

  58. ORBextractor.iniThFAST: 20
    59. 

  59. ORBextractor.minThFAST: 7
    60. 

  60. 

  61. #--------------------------------------------------------------------------------------------
    62. 

  62. # Viewer Parameters
    63. 

  63. #--------------------------------------------------------------------------------------------
    64. 

  64. Viewer.KeyFrameSize: 0.05
    65. 

  65. Viewer.KeyFrameLineWidth: 1
    66. 

  66. Viewer.GraphLineWidth: 0.9
    67. 

  67. Viewer.PointSize:2
    68. 

  68. Viewer.CameraSize: 0.08
    69. 

  69. Viewer.CameraLineWidth: 3
    70. 

  70. Viewer.ViewpointX: 0
    71. 

  71. Viewer.ViewpointY: -0.7
    72. 

  72. Viewer.ViewpointZ: -1.8
    73. 

  73. Viewer.ViewpointF: 500
    74. 

  74.