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camera_config.yaml
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camera_config.yaml
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Camera:
color_order: RGB
cols: 1280
cx: 645.2424926757812
cy: 369.2352600097656
fps: 60.0
fx: 523.0582275390625
fy: 523.0582275390625
h_fov: 101.48621368408203
k1: 0.0
k2: 0.0
k3: 0.0
model: perspective
name: ZED2
p1: 0.0
p2: 0.0
rows: 720
setup: stereo
stereo_baseline: 119.90037536621094
Feature:
ini_fast_threshold: 20
max_num_keypoints: 2000
min_fast_threshold: 7
name: default ORB feature extraction setting
num_levels: 8
scale_factor: 1.2
Initializer:
min_num_triangulated_pts: 100
KeyframeInserter:
wait_for_local_bundle_adjustment: false
LoopDetector:
backend: g2o
Mapping:
backend: g2o
baseline_dist_thr: 0.11007784219
erase_temporal_keyframes: false
num_temporal_keyframes: 15
redundant_obs_ratio_thr: 0.9
PangolinViewer:
camera_line_width: 3
camera_size: 0.08
graph_line_width: 1
keyframe_line_width: 1
keyframe_size: 0.07
point_size: 2
viewpoint_f: 400
viewpoint_x: 0
viewpoint_y: -0.65
viewpoint_z: -1.9
Preprocessing:
min_size: 800
Relocalizer:
search_neighbor: true
SocketPublisher:
address: 127.0.0.1
port: 7000
StereoRectifier:
D_left:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
D_right:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
K_left:
- 523.0582275390625
- 0.0
- 645.2424926757812
- 0.0
- 523.0582275390625
- 369.2352600097656
- 0.0
- 0.0
- 1.0
K_right:
- 523.0582275390625
- 0.0
- 645.2424926757812
- 0.0
- 523.0582275390625
- 369.2352600097656
- 0.0
- 0.0
- 1.0
R_left:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
R_right:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
T_left:
- 0.0
- 0.0
- 0.0
T_right:
- 119.90037536621094
- 0.0
- 0.0
System:
map_format: msgpack
num_grid_cols: 47
num_grid_rows: 30
Tracking:
backend: g2o
enable_temporal_keyframe_only_tracking: false
margin_last_frame_projection: 10.0