EuRoC_mono.yaml

# EuRoC monocular model

Camera:
  name: "EuRoC monocular"
  setup: "monocular"
  model: "perspective"

  fx: 458.654
  fy: 457.296
  cx: 367.215
  cy: 248.375

  k1: -0.28340811
  k2: 0.07395907
  p1: 0.00019359
  p2: 1.76187114e-05
  k3: 0.0

  fps: 20.0
  cols: 752
  rows: 480

  color_order: "Gray"

Preprocessing:
  min_size: 800

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

Mapping:
  backend: "g2o"
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.9
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
  erase_temporal_keyframes: false
  num_temporal_keyframes: 15

Tracking:
  backend: "g2o"
  enable_temporal_keyframe_only_tracking: false

KeyframeInserter:
  wait_for_local_bundle_adjustment: false

Relocalizer:
  search_neighbor: true

LoopDetector:
  backend: "g2o"

System:
  map_format: "msgpack"
  num_grid_cols: 47
  num_grid_rows: 30

PangolinViewer:
  keyframe_size: 0.07
  keyframe_line_width: 1
  graph_line_width: 1
  point_size: 2
  camera_size: 0.08
  camera_line_width: 3
  viewpoint_x: 0
  viewpoint_y: -0.65
  viewpoint_z: -1.9
  viewpoint_f: 400