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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- Camera.type: "PinHole"
- # Left Camera calibration and distortion parameters (OpenCV)
- Camera.fx: 382.613
- Camera.fy: 382.613
- Camera.cx: 320.183
- Camera.cy: 236.455
- # distortion parameters
- Camera.k1: 0.0
- Camera.k2: 0.0
- Camera.p1: 0.0
- Camera.p2: 0.0
- # Camera resolution
- Camera.width: 640
- Camera.height: 480
- # Camera frames per second
- Camera.fps: 30.0
- # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
- Camera.RGB: 1
- # Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
- Camera.imageScale: 1.0 # 0.5 #0.7071 # 1/sqrt(2)
- # Close/Far threshold. Baseline times.
- ThDepth: 40.0
- # stereo baseline times fx
- Camera.bf: 19.114771561
- #--------------------------------------------------------------------------------------------
- # ORB Parameters
- #--------------------------------------------------------------------------------------------
- # ORB Extractor: Number of features per image
- ORBextractor.nFeatures: 1250
- # 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
- Viewer.GraphLineWidth: 0.9
- Viewer.PointSize: 2
- Viewer.CameraSize: 0.08
- Viewer.CameraLineWidth: 3
- Viewer.ViewpointX: 0
- Viewer.ViewpointY: -0.7
- Viewer.ViewpointZ: -3.5
- Viewer.ViewpointF: 500
|
