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rgbd_example.cfg
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rgbd_example.cfg
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cam.dist_right1 = 0;
cam.dist_right2 = 0;
cam.dist_right3 = 0;
cam.dist_right4 = 0;
cam.dist_right5 = 0;
cam.dist_left1 = 0;
cam.dist_left2 = 0;
cam.dist_left3 = 0;
cam.dist_left4 = 0;
cam.dist_left5 = 0;
cam.rotx_right = 0;
cam.roty_right = 0;
cam.rotz_right = 0;
cam.rotx_left = 0;
cam.roty_left = 0;
cam.rotz_left = 0;
cam.width = 640;
cam.height = 480;
cam.f = 591.52441444;
cam.px = 320;
cam.py = 240;
cam.baseline = 0.07468;
framepipe.skip_imgs = 100;
framepipe.livestream = 0;
framepipe.mask_img = 0;
framepipe.disp_img = 1;
framepipe.right_img = 0;
framepipe.color_img = 0;
framepipe.format_str = png;
framepipe.path_str = ../data/example;
framepipe.base_str = .*rgbd.*;
frontend.save_dense_cloud = 1;
frontend.new_keyframe_featureless_corners_thr = 2;
frontend.new_keyframe_pixel_thr = 70;
frontend.newpoint_clearance = 2;
frontend.num_frames_metric_loop_check = 50;
frontend.covis_thr = 10;
graph.outer_window = 100;
graph.inner_window = 7;
use_n_levels_in_frontent = 3;
ui.parallax_thr = 0.15
ui.max_reproj_error = 3