-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathparam.txt
86 lines (70 loc) · 2.54 KB
/
param.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
%YAML:1.0
#DataRoot:/home/lql/slam/data/rgbd_dataset_freiburg1_xyz
#DataRoot:/home/lql/slam/data/rgbd_dataset_freiburg1_rpy
#DataRoot:/home/lql/slam/data/rgbd_dataset_freiburg2_large_no_loop
DataRoot:/home/liqile/data/fr1_xyz
#VocFile:/home/lql/slam/voc/ORBvoc.txt
VocFile:/home/liqile/software/slam/ORB_SLAM2/Vocabulary/ORBvoc.txt
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 517.306408
#Camera.fx: 520.9
Camera.fy: 516.469215
#Camera.fy: 521.0
Camera.cx: 318.643040
#Camera.cx: 325.1
Camera.cy: 255.313989
#Camera.cy: 249.7
Camera.k1: 0.262383
#Camera.k1: 0.2312
Camera.k2: -0.953104
#Camera.k2: -0.7849
Camera.p1: -0.005358
#Camera.p1: -0.0033
Camera.p2: 0.002628
#Camera.p2: -0.0001
Camera.k3: 1.163314
#Camera.k3: 0.9172
Camera.width: 640
Camera.height: 480
# Camera frames per second
Camera.fps: 30.0
# IR projector baseline times fx (aprox.)
Camera.bf: 40.0
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 50.0
# Deptmap values factor
DepthMapFactor: 5000.0
#--------------------------------------------------------------------------------------------
# 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
#DataRoot: /home/liqile/data/fr1_xyz