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KITTI04-12.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+#File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+
+Camera1.fx: 707.0912
+Camera1.fy: 707.0912
+Camera1.cx: 601.8873
+Camera1.cy: 183.1104
+
+Camera.fx: 707.0912
+Camera.fy: 707.0912
+Camera.cx: 601.8873
+Camera.cy: 183.1104
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 1226
+Camera.height: 370
+
+# Camera frames per second 
+Camera.fps: 30
+
+#Stereo.b: 0.53715
+Camera.bf: 379.8145
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+#Stereo.ThDepth: 40.0
+ThDepth: 40.0
+
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 2000
+
+# 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: 12
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.6
+Viewer.KeyFrameLineWidth: 2.0
+Viewer.GraphLineWidth: 1.0
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.7
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -100.0
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000.0
+
+#--------------------------------------------------------------------------------------------
+# Atlas Parameters
+#--------------------------------------------------------------------------------------------
+# System.LoadAtlasFromFile: "Atlas06"
+# System.SaveAtlasToFile: "Atlas06"
+