-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathTUM1.yaml
60 lines (47 loc) · 1.61 KB
/
TUM1.yaml
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
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Visual Odometry Settings.
#--------------------------------------------------------------------------------------------
UsingPyramid:1
PyramidLevel:2
# 1 for GGM, 2 for LOG
METRIC_LABEL:1
# 1 MAD and 2 for TD (optimized)
SCALE_ESTIMATOR:1
# 1 GN and 2 LM
SOLVER_METHOD:1
KEYFRAME_INTERVAL:1
#--------------------------------------------------------------------------------------------
# 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.fx: 520.9
Camera.fy: 521.0
Camera.cx: 325.1
Camera.cy: 249.7
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
DepthMapFactor: 5000.0
#--------------------------------------------------------------------------------------------
# Dataset absolute path
#--------------------------------------------------------------------------------------------
DatasetPath:"e:\\slamData\\rgbd_dataset_freiburg1_rpy\\"
TrajectoryFile:"ggmvo.txt"