parameters.txt

# 这是一个参数文件
# 这虽然只是个参数文件，但是是很厉害的呢！
# 去你妹的yaml! 我再也不用yaml了！简简单单多好！

# 数据相关
# 起始与终止索引
start_index=1
end_index=-1
# 数据所在目录
data_source=/home/xiang/Documents/data/rgbd_dataset_freiburg2_pioneer_slam2/
#data_source=/home/xiang/Documents/data/rgbd_dataset_freiburg1_room/
data_source=/home/xiang/Documents/data/rgbd_dataset_freiburg3_long_office_household/
rgb_dir=rgb/
rgb_extension=.png
depth_dir=depth/
depth_extension=.png

# 相机内参
# fr1
#camera.cx=318.6
#camera.cy=255.3
#camera.fx=517.3
#camera.fy=516.5

# fr2
#camera.cx=325.1
#camera.cy=249.7
#camera.fx=520.9
#camera.fy=521.0

# fr3
camera.cx=320.1
camera.cy=247.6
camera.fx=535.4
camera.fy=539.2

camera.d0=0.2312
camera.d1=-0.7849
camera.d2=-0.0033
camera.d3=-0.0001
camera.d4=0.9172

camera.scale=5000.0

# ORB 参数
orb_features=300
orb_scale=1.2
orb_levels=4
orb_iniThFAST=20
orb_minThFAST=8
knn_match_ratio=0.8

# PnP参数
pnp_min_inliers=10
pnp_min_matches=15

# Tracker参数
tracker_max_lost_frame=10
tracker_ref_frames=5

# pose graph
nearby_keyframes=5
keyframe_min_translation=0.25
keyframe_min_rotation=0.25
loop_accumulate_error=4.0
local_accumulate_error=1.0


# Looper参数
looper_vocab_file=./vocab/ORBvoc.txt
looper_min_sim_score=0.015
looper_min_interval=60

# Mapper参数
mapper_resolution=0.04
mapper_max_distance=5.0