Created
May 7, 2023 17:45
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| %YAML:1.0 | |
| #-------------------------------------------------------------------------------------------- | |
| # Camera Parameters. Adjust them! | |
| #-------------------------------------------------------------------------------------------- | |
| Camera.type: "PinHole" | |
| # Camera calibration nd distortion parameters (OpenCV) | |
| Camera.fx: 518.857901 | |
| Camera.fy: 519.469611 | |
| Camera.cx: 325.582449 | |
| Camera.cy: 253.736166 | |
| Camera.k1: 0.207966 | |
| Camera.k2: -0.588614 | |
| Camera.p1: 0.000722 | |
| Camera.p2: 0.001048 | |
| # Camera frames per second | |
| Camera.fps: 20.0 | |
| # 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: 1000 | |
| # 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: -1.8 | |
| Viewer.ViewpointF: 500 | |
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