forked from logzhan/ORB-SLAM3-UESTC
70 lines
2.3 KiB
YAML
70 lines
2.3 KiB
YAML
|
%YAML:1.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Camera Parameters. Adjust them!
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
Camera.type: "KannalaBrandt8"
|
||
|
|
|
||
|
|
# Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera.fx: 199.842179 # 190.97847715128717
|
||
|
|
|
||
|
|
Camera.fy: 199.453469 # 190.9733070521226
|
||
|
|
Camera.cx: 342.844938 # 254.93170605935475
|
||
|
|
Camera.cy: 265.535897 # 256.8974428996504
|
||
|
|
|
||
|
|
# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
|
||
|
|
# Camera.bFishEye: 1
|
||
|
|
Camera.k1: -0.221323 # 0.0034823894022493434
|
||
|
|
Camera.k2: 0.173058 # 0.0007150348452162257
|
||
|
|
Camera.k3: -0.197220 # -0.0020532361418706202
|
||
|
|
Camera.k4: 0.069912 # 0.00020293673591811182
|
||
|
|
|
||
|
|
# Camera resolution
|
||
|
|
Camera.width: 640
|
||
|
|
Camera.height: 480
|
||
|
|
|
||
|
|
# Camera frames per second
|
||
|
|
# Camera.fps: 20.0
|
||
|
|
|
||
|
|
Camera.fps: 30
|
||
|
|
|
||
|
|
|
||
|
|
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
|
||
|
|
Camera.RGB: 1
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# ORB Extractor: Number of features per image
|
||
|
|
ORBextractor.nFeatures: 1500 # Tested with 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
|
||
|
|
ORBextractor.iniThFAST: 20 # 20
|
||
|
|
ORBextractor.minThFAST: 7 # 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 # -1.8
|
||
|
|
Viewer.ViewpointF: 500
|