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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- File.version: "1.0"
- Camera.type: "PinHole"
- # Camera calibration and distortion parameters (OpenCV)
- Camera1.fx: 517.306408
- Camera1.fy: 516.469215
- Camera1.cx: 318.643040
- Camera1.cy: 255.313989
- Camera1.k1: 0.262383
- Camera1.k2: -0.953104
- Camera1.p1: -0.005358
- Camera1.p2: 0.002628
- Camera1.k3: 1.163314
- Camera.width: 640
- Camera.height: 480
- # Camera frames per second
- Camera.fps: 30
- # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
- Camera.RGB: 1
- # Close/Far threshold. Baseline times.
- Stereo.ThDepth: 40.0
- Stereo.b: 0.07732
- # Depth map values factor
- RGBD.DepthMapFactor: 5000.0 # 1.0 for ROS_bag
- #--------------------------------------------------------------------------------------------
- # ORB Parameters
- #--------------------------------------------------------------------------------------------
- # ORB Extractor: Number of features per image
- ORBextractor.nFeatures: 1000
- # ORB Extractor: Scale factor between levels in the scale pyramid
- ORBextractor.scaleFactor: 1.2
- # ORB Extractor: Number of levels in the scale pyramid
- ORBextractor.nLevels: 8
- # ORB Extractor: Fast threshold
- # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
- # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
- # You can lower these values if your images have low contrast
- ORBextractor.iniThFAST: 20
- ORBextractor.minThFAST: 7
- #--------------------------------------------------------------------------------------------
- # Viewer Parameters
- #--------------------------------------------------------------------------------------------
- Viewer.KeyFrameSize: 0.05
- Viewer.KeyFrameLineWidth: 1.0
- Viewer.GraphLineWidth: 0.9
- Viewer.PointSize: 2.0
- Viewer.CameraSize: 0.08
- Viewer.CameraLineWidth: 3.0
- Viewer.ViewpointX: 0.0
- Viewer.ViewpointY: -0.7
- Viewer.ViewpointZ: -1.8
- Viewer.ViewpointF: 500.0
|
