| Name | Description |
|---|---|
| name | It is used by the camera database to identify the camera. |
| setup | monocular, stereo, RGBD |
| model | perspective, fisheye, equirectangular, radial_division (note: If you want to use stereo_rectifier, you need to specify perspective.) |
| fx, fy | Focal length (pixel) |
| cx, cy | Principal point (pixel) |
| k1, k2, p1, p2, k3 | Distortion parameters for perspective camera. When using StereoRectifier, there is no distortion after stereo rectification. |
| k1, k2, k3, k4 | Distortion parameters for fisheye camera |
| distortion | Distortion parameters for radial_division camera |
| fps | Framerate of input images |
| cols, rows | Resolution (pixel) |
| color_order | Gray, RGB, RGBA, BGR, BGRA |
| focal_x_baseline | For stereo cameras, it is the value of the baseline between the left and right cameras multiplied by the focal length fx. For RGBD cameras, if the measurement method is stereo, set it based on its baseline. If the measurement method is other than that, set the appropriate value based on the relationship between depth accuracy and baseline. |
| depth_threshold | The ratio used to determine the depth threshold. |
| Name | Description |
|---|---|
| name | name of ORB feature extraction model (id for saving) |
| scale_factor | Scale of the image pyramid |
| num_levels | Number of levels of in the image pyramid |
| ini_fast_threshold | FAST threshold for try first |
| min_fast_threshold | FAST threshold for try second time |
| Name | Description |
|---|---|
| max_num_keypoints | Maximum number of feature points per frame to be used for SLAM. |
| ini_max_num_keypoints | Maximum number of feature points per frame to be used for Initialization. It is only used for monocular camera models. |
| depthmap_factor | The ratio used to convert depth image pixel values to distance. |
| Name | Description |
|---|---|
| reloc_distance_threshold | Maximum distance threshold (in meters) where close keyframes could be found when doing a relocalization by pose. |
| reloc_angle_threshold | Maximum angle threshold (in radians) between given pose and close keyframes when doing a relocalization by pose. |
| enable_auto_relocalization | If true, automatically try to relocalize when lost. |
| use_robust_matcher_for_relocalization_request | If true, use robust_matcher for relocalization request. |
| Name | Description |
|---|---|
| baseline_dist_thr_ratio | For two frames of baseline below the threshold, no triangulation will be performed. In the monocular case, the scale is indefinite, so relative values are recommended. Either baseline_dist_thr or this one should be specified. If not specified, baseline_dist_thr_ratio will be used. |
| baseline_dist_thr | For two frames of baseline below the threshold, no triangulation will be performed. |
| redundant_obs_ratio_thr |
| Name | Description |
|---|---|
| model | camera model type before rectification. The option is perspective or fisheye. (note: If you want to use fisheye model for stereo_rectifier, you need to specify Camera::model to perspective.) |
| K_left, K_right | Intrinsic parameters. The 3x3 matrix are written in row-major order. |
| D_left, D_right | Distortion parameters. The 5 parameters are k1, k2, p1, p2, k3. |
| R_left, R_right | Stereo-recitification parameters. The 3x3 matrix are written in row-major order. |
| Name | Description |
|---|---|
| num_min_triangulated_pts | Minimum number of triangulated points |
| Name | Description |
|---|---|
| bow_match_lowe_ratio | |
| proj_match_lowe_ratio | |
| min_num_bow_matches | |
| min_num_valid_obs |
| Name | Description |
|---|---|
| max_interval | max interval to insert keyframe |
| lms_ratio_thr_almost_all_lms_are_tracked | Threshold at which we consider that we are tracking almost all landmarks. Ratio-threshold of "the number of 3D points observed in the current frame" / "that of 3D points observed in the last keyframe" |
| lms_ratio_thr_view_changed | Threshold at which we consider the view to have changed. Ratio-threshold of "the number of 3D points observed in the current frame" / "that of 3D points observed in the last keyframe" |
| Name | Description |
|---|---|
| keyframe_size | |
| keyframe_line_width | |
| graph_line_width | |
| point_size | |
| camera_size | |
| camera_line_width | |
| viewpoint_x, viewpoint_y, viewpoint_z, viewpoint_f |
| Name | Description |
|---|---|
| emitting_interval | |
| image_quality | |
| server_uri | |
| publish_points | If true, pointcloud transfer is enabled. The default is true. Pointcloud transfer is slow, so disabling pointcloud transfer may be useful to improve performance of SocketViewer. |
| Name | Description |
|---|---|
| enabled | flag which indicates the loop detector is enabled or not |
| num_final_matches_threshold | the threshold of the number of mutual matches after the Sim3 estimation |
| min_continuity | the threshold of the continuity of continuously detected keyframe set |
| Name | Description |
|---|---|
| reject_by_graph_distance | |
| loop_min_distance_on_graph |