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Examples_old
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Monocular
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RealSense_T265.yaml

RealSense_T265.yaml 2.2 KB
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  1. %YAML:1.0
    2. 

  2. 

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

  4. # Camera Parameters. Adjust them!
    5. 

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

  6. Camera.type: "KannalaBrandt8"
    7. 

  7. 

  8. # Left Camera calibration and distortion parameters (OpenCV)
    9. 

  9. Camera.fx: 284.9501953125
    10. 

  10. Camera.fy: 285.115295410156
    11. 

  11. Camera.cx: 420.500213623047
    12. 

  12. Camera.cy: 400.738098144531
    13. 

  13. 

  14. # Kannala-Brandt distortion parameters
    15. 

  15. Camera.k1: -0.00530046410858631
    16. 

  16. Camera.k2: 0.0423333682119846
    17. 

  17. Camera.k3: -0.03949885815382
    18. 

  18. Camera.k4: 0.00682387687265873
    19. 

  19. 

  20. # Camera resolution
    21. 

  21. Camera.width: 848
    22. 

  22. Camera.height: 800
    23. 

  23. 

  24. # Camera frames per second 
    25. 

  25. Camera.fps: 30.0
    26. 

  26. 

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

  28. Camera.RGB: 1
    29. 

  29. 

  30. # Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
    31. 

  31. Camera.imageScale: 0.7071 # 1/sqrt(2)
    32. 

  32.  
    33. 

  33. #--------------------------------------------------------------------------------------------
    34. 

  34. # ORB Parameters
    35. 

  35. #--------------------------------------------------------------------------------------------
    36. 

  36. 

  37. # ORB Extractor: Number of features per image
    38. 

  38. ORBextractor.nFeatures: 1000 # Tested with 1250
    39. 

  39. 

  40. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    41. 

  41. ORBextractor.scaleFactor: 1.2
    42. 

  42. 

  43. # ORB Extractor: Number of levels in the scale pyramid	
    44. 

  44. ORBextractor.nLevels: 8
    45. 

  45. 

  46. # ORB Extractor: Fast threshold
    47. 

  47. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    48. 

  48. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    49. 

  49. # You can lower these values if your images have low contrast			
    50. 

  50. ORBextractor.iniThFAST: 20 # 20
    51. 

  51. ORBextractor.minThFAST: 7 # 7
    52. 

  52. 

  53. #--------------------------------------------------------------------------------------------
    54. 

  54. # Viewer Parameters
    55. 

  55. #--------------------------------------------------------------------------------------------
    56. 

  56. Viewer.KeyFrameSize: 0.05
    57. 

  57. Viewer.KeyFrameLineWidth: 1
    58. 

  58. Viewer.GraphLineWidth: 0.9
    59. 

  59. Viewer.PointSize: 2
    60. 

  60. Viewer.CameraSize: 0.08
    61. 

  61. Viewer.CameraLineWidth: 3
    62. 

  62. Viewer.ViewpointX: 0
    63. 

  63. Viewer.ViewpointY: -0.7
    64. 

  64. Viewer.ViewpointZ: -3.5
    65. 

  65. Viewer.ViewpointF: 500
    66.