72 lines
2.1 KiB
YAML
72 lines
2.1 KiB
YAML
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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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Camera.type: "PinHole"
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 517.306408
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Camera.fy: 516.469215
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Camera.cx: 318.643040
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Camera.cy: 255.313989
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Camera.k1: 0.262383
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Camera.k2: -0.953104
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Camera.p1: -0.005358
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Camera.p2: 0.002628
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Camera.k3: 1.163314
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30.0
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# IR projector baseline times fx (aprox.)
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Camera.bf: 40.0
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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ThDepth: 40.0
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# Deptmap values factor
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DepthMapFactor: 5000.0 # 1.0 for ROS_bag
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1000
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize:2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -1.8
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Viewer.ViewpointF: 500
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