Created
August 18, 2017 22:16
-
-
Save EnsekiTT/b69a0546a9261ec24a3049417e399517 to your computer and use it in GitHub Desktop.
iPhoneでも使えたっぽいORB_SLAM2の設定ファイル
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
%YAML:1.0 | |
#-------------------------------------------------------------------------------------------- | |
# Camera Parameters. Adjust them! | |
#-------------------------------------------------------------------------------------------- | |
# Camera calibration and distortion parameters (OpenCV) | |
Camera.fx: 1467.836136 | |
Camera.fy: 1471.712197 | |
Camera.cx: 941.204100 | |
Camera.cy: 495.586545 | |
Camera.k1: 0.031240 | |
Camera.k2: -0.079239 | |
Camera.p1: 0.002502 | |
Camera.p2: -0.002789 | |
Camera.k3: 0.000000 | |
# Camera frames per second | |
Camera.fps: 30.0 | |
# 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: 5000 #1000 | |
# ORB Extractor: Scale factor between levels in the scale pyramid | |
ORBextractor.scaleFactor: 1.8 #1.2 | |
# ORB Extractor: Number of levels in the scale pyramid | |
ORBextractor.nLevels: 5 #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 | |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment