TUM_RGBD_rgbd_2.yaml

# TUM-RGBD RGBD model for 02

#==============#
# Camera Model #
#==============#

Camera:
  name: "TUM-RGBD RGBD 02"
  setup: "RGBD"
  model: "perspective"

  fx: 520.908620
  fy: 521.007327
  cx: 325.141442
  cy: 249.701764

  k1: 0.231222
  k2: -0.784899
  p1: -0.003257
  p2: -0.000105
  k3: 0.917205

  fps: 30.0
  cols: 640
  rows: 480
  focal_x_baseline: 40.0
  depth_threshold: 40.0

  color_order: "RGB"

#=====================#
# Tracking Parameters #
#=====================#

Tracking:
  margin_local_map_projection: 10.0

Preprocessing:
  min_size: 800
  depthmap_factor: 5000.0 # Note: Set it to 1.0 for the rosbag format data set.

#================#
# ORB Parameters #
#================#

Feature:
  name: "default ORB feature extraction setting"
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7

#====================#
# Mapping Parameters #
#====================#

Mapping:
  baseline_dist_thr: 0.07471049682
  redundant_obs_ratio_thr: 0.9

#===========================#
# PangolinViewer Parameters #
#===========================#

PangolinViewer:
  keyframe_size: 0.05
  keyframe_line_width: 1
  graph_line_width: 1
  point_size: 2
  camera_size: 0.08
  camera_line_width: 3
  viewpoint_x: 0
  viewpoint_y: -0.9
  viewpoint_z: -1.9
  viewpoint_f: 400