Datasets:
| #-------------------------------------------------------------------------------------------- | |
| # Viewer Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| # Viewer.on: 1 is ON, 0 is OFF | |
| Viewer.on: 1 | |
| Viewer.KeyFrameSize: 0.05 | |
| Viewer.KeyFrameLineWidth: 1 | |
| Viewer.GraphLineWidth: 0.9 | |
| Viewer.PointSize: 1 | |
| Viewer.LineSize: 1 | |
| Viewer.CameraSize: 0.08 | |
| Viewer.CameraLineWidth: 3 | |
| Viewer.ViewpointX: 0 | |
| Viewer.ViewpointY: -0.7 | |
| Viewer.ViewpointZ: -1.8 | |
| Viewer.ViewpointF: 500 | |
| #-------------------------------------------------------------------------------------------- | |
| # Camera Parameters. Adjust them! | |
| #-------------------------------------------------------------------------------------------- | |
| #camera matrix: | |
| # [[720.74677588 0. 324.72460102] | |
| # [ 0. 720.87434544 238.97483313] | |
| # [ 0. 0. 1. ]] | |
| #distortion coefficients: [-1.96841029e-02 -5.74293178e-01 -6.78065914e-04 8.34984375e-04 1.59969276e+00] | |
| # PocoX3 | |
| # 1250.6 0 0 | |
| # 0 1254.8 0 | |
| # 978.4 562.1 1.0 | |
| # [0.0936 -0.5403 7.2525e-04 0.0084 0.7632] | |
| # Camera calibration and distortion parameters (OpenCV) | |
| Camera.fx: 1250.6 | |
| Camera.fy: 1254.8 | |
| Camera.cx: 978.4 | |
| Camera.cy: 562.1 | |
| Camera.k1: 0.0936 | |
| Camera.k2: -0.5403 | |
| Camera.p1: 7.2525e-04 | |
| Camera.p2: 0.0084 | |
| Camera.k3: 0.7632 | |
| Camera.width: 1920 | |
| Camera.height: 1080 | |
| # 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: 0 | |
| # Close/Far threshold. Baseline times. | |
| ThDepth: 40.0 | |
| # Deptmap values factor | |
| DepthMapFactor: 1.0 | |
| #-------------------------------------------------------------------------------------------- | |
| # 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 | |