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RGB-D
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TUM2.yaml

TUM2.yaml 2.1 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: "PinHole"
    9. 

  9. 

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

  11. Camera1.fx: 520.908620
    12. 

  12. Camera1.fy: 521.007327
    13. 

  13. Camera1.cx: 325.141442
    14. 

  14. Camera1.cy: 249.701764
    15. 

  15. 

  16. Camera1.k1: 0.231222
    17. 

  17. Camera1.k2: -0.784899
    18. 

  18. Camera1.p1: -0.003257
    19. 

  19. Camera1.p2: -0.000105
    20. 

  20. Camera1.k3: 0.917205
    21. 

  21. 

  22. Camera.width: 640
    23. 

  23. Camera.height: 480
    24. 

  24. 

  25. # Camera frames per second 
    26. 

  26. Camera.fps: 30
    27. 

  27. 

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

  29. Camera.RGB: 1
    30. 

  30. 

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

  32. Stereo.ThDepth: 40.0
    33. 

  33. Stereo.b: 0.0767
    34. 

  34. 

  35. # Depth map values factor
    36. 

  36. RGBD.DepthMapFactor: 5208.0
    37. 

  37. 

  38. 

  39. #--------------------------------------------------------------------------------------------
    40. 

  40. # ORB Parameters
    41. 

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

  42. 

  43. # ORB Extractor: Number of features per image
    44. 

  44. ORBextractor.nFeatures: 1000
    45. 

  45. 

  46. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    47. 

  47. ORBextractor.scaleFactor: 1.2
    48. 

  48. 

  49. # ORB Extractor: Number of levels in the scale pyramid	
    50. 

  50. ORBextractor.nLevels: 8
    51. 

  51. 

  52. # ORB Extractor: Fast threshold
    53. 

  53. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    54. 

  54. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    55. 

  55. # You can lower these values if your images have low contrast			
    56. 

  56. ORBextractor.iniThFAST: 20
    57. 

  57. ORBextractor.minThFAST: 7
    58. 

  58. 

  59. #--------------------------------------------------------------------------------------------
    60. 

  60. # Viewer Parameters
    61. 

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

  62. Viewer.KeyFrameSize: 0.05
    63. 

  63. Viewer.KeyFrameLineWidth: 1.0
    64. 

  64. Viewer.GraphLineWidth: 0.9
    65. 

  65. Viewer.PointSize: 2.0
    66. 

  66. Viewer.CameraSize: 0.08
    67. 

  67. Viewer.CameraLineWidth: 3.0
    68. 

  68. Viewer.ViewpointX: 0.0
    69. 

  69. Viewer.ViewpointY: -0.7
    70. 

  70. Viewer.ViewpointZ: -1.8
    71. 

  71. Viewer.ViewpointF: 500.0
    72. 

  72.