| %YAML:1.0 | |
| #-------------------------------------------------------------------------------------------- | |
| # Camera Parameters. Adjust them! | |
| #-------------------------------------------------------------------------------------------- | |
| File.version: "1.0" | |
| Camera.type: "PinHole" | |
| # Right Camera calibration and distortion parameters (OpenCV) | |
| #640 x 480 | |
| Camera1.fx: 614.3170166015625 | |
| Camera1.fy: 614.9486694335938 | |
| Camera1.cx: 315.5247497558594 | |
| Camera1.cy: 230.0548858642578 | |
| #848 x 480 | |
| #Camera.fx: 604.104064941406 | |
| #Camera.fy: 602.843811035156 | |
| #Camera.cx: 421.326568603516 | |
| #Camera.cy: 240.484176635742 | |
| # distortion parameters | |
| Camera1.k1: 0.0 | |
| Camera1.k2: 0.0 | |
| Camera1.p1: 0.0 | |
| Camera1.p2: 0.0 | |
| # Camera resolution | |
| 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 | |
| #Camera.bf: 30.205 | |
| # Close/Far threshold. Baseline times. | |
| Stereo.ThDepth: 40.0 | |
| Stereo.b: 0.05 | |
| # Depth map values factor | |
| RGBD.DepthMapFactor: 1000.0 | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Extractor: Number of features per image | |
| ORBextractor.nFeatures: 4000 | |
| # 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: -3.5 | |
| Viewer.ViewpointF: 500.0 | |