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ROS2-ORB-SLAM3
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Examples_old
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Monocular
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MultiSession
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EuRoC_V201.yaml

EuRoC_V201.yaml 2.5 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Session config
    5. 

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

  6. 

  7. # When the variables are commented, the system doesn't load a previous session or not store the current one
    8. 

  8. 

  9. # If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
    10. 

  10. # System.LoadAtlasFromFile: ""
    11. 

  11. 

  12. # The store file is created from the current session, if a file with the same name exists it is deleted
    13. 

  13. System.SaveAtlasToFile: "V201_monocular.osa" 
    14. 

  14. 

  15. #--------------------------------------------------------------------------------------------
    16. 

  16. # Camera Parameters. Adjust them!
    17. 

  17. #--------------------------------------------------------------------------------------------
    18. 

  18. Camera.type: "PinHole"
    19. 

  19. 

  20. # Camera calibration and distortion parameters (OpenCV) 
    21. 

  21. Camera.fx: 458.654
    22. 

  22. Camera.fy: 457.296
    23. 

  23. Camera.cx: 367.215
    24. 

  24. Camera.cy: 248.375
    25. 

  25. 

  26. Camera.k1: -0.28340811
    27. 

  27. Camera.k2: 0.07395907
    28. 

  28. Camera.p1: 0.00019359
    29. 

  29. Camera.p2: 1.76187114e-05
    30. 

  30. 

  31. Camera.width: 752
    32. 

  32. Camera.height: 480
    33. 

  33. 

  34. # Camera frames per second 
    35. 

  35. Camera.fps: 20.0
    36. 

  36. 

  37. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    38. 

  38. Camera.RGB: 1
    39. 

  39. 

  40. #--------------------------------------------------------------------------------------------
    41. 

  41. # ORB Parameters
    42. 

  42. #--------------------------------------------------------------------------------------------
    43. 

  43. 

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

  45. ORBextractor.nFeatures: 1000
    46. 

  46. 

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

  48. ORBextractor.scaleFactor: 1.2
    49. 

  49. 

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

  51. ORBextractor.nLevels: 8
    52. 

  52. 

  53. # ORB Extractor: Fast threshold
    54. 

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

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

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

  57. ORBextractor.iniThFAST: 20
    58. 

  58. ORBextractor.minThFAST: 7
    59. 

  59. 

  60. #--------------------------------------------------------------------------------------------
    61. 

  61. # Viewer Parameters
    62. 

  62. #---------------------------------------------------------------------------------------------
    63. 

  63. Viewer.KeyFrameSize: 0.05
    64. 

  64. Viewer.KeyFrameLineWidth: 1
    65. 

  65. Viewer.GraphLineWidth: 0.9
    66. 

  66. Viewer.PointSize: 2
    67. 

  67. Viewer.CameraSize: 0.08
    68. 

  68. Viewer.CameraLineWidth: 3
    69. 

  69. Viewer.ViewpointX: 0
    70. 

  70. Viewer.ViewpointY: -0.7
    71. 

  71. Viewer.ViewpointZ: -1.8
    72. 

  72. Viewer.ViewpointF: 500
    73. 

  73.