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TUM1.yaml
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Dataset
#--------------------------------------------------------------------------------------------
data_set: /home/heihei/Downloads/rgbd_dataset_freiburg1_desk/
ground_truth_path: /home/heihei/Downloads/rgbd_dataset_freiburg1_desk/
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
camera_fx: 517.306408
camera_fy: 516.469215
camera_cx: 318.643040
camera_cy: 255.313989
camera_k1: 0.262383
camera_k2: -0.953104
camera_p1: -0.005358
camera_p2: 0.002628
camera_k3: 1.163314
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: 40.0
# Deptmap values factor
depth_factor: 5000.0
min_depth: 0.1
max_depth: 10
key_frame_num: 15
errorThreshold: 10
vocScores: 0.07
#--------------------------------------------------------------------------------------------
# Frontend Parameters
#--------------------------------------------------------------------------------------------
# Tracking threshold
interiors_threshold_bad: 20
interiors_threshold_lost: 0
# Match size
match_size_threshold: 10
# Reprojection Error
reprojection_error_threshold: 0.15
# Estimation pose using BA PnP SVD or RANSAC
estimate_pose: PnP
# Ransac
ransac_max_iterators: 1000
# Number of frames to BA
number_optimize_frame: 5
#--------------------------------------------------------------------------------------------
# Frame Parameters
#--------------------------------------------------------------------------------------------
match_distance_eta: 0.4
#--------------------------------------------------------------------------------------------
# System Parameters
#--------------------------------------------------------------------------------------------
# Topic name
topic_name: PNP5
# Init Pose
rotation_quaternion_w: -0.3909
rotation_quaternion_x: 0.8851
rotation_quaternion_y: 0.2362
rotation_quaternion_z: -0.0898
translation_x: 1.3112
translation_y: 0.8507
translation_z: 1.5186
timestamp: 1305031453.3595
# T: If you want to write odometer data in a file; F: If you don't want to write a file
write_file: T
file_name: PnP5.txt