settings.yaml

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 320.0
Camera.fy: 320.0
Camera.cx: 320
Camera.cy: 240

Camera.width: 640
Camera.height: 480

# Camera frames per second
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 40.0

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Close/Far threshold. Baseline times.
ThDepth: 100.0

# Deptmap values factor
DepthMapFactor: 1.0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1500

# 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
ORBextractor.thFAST: 31

#--------------------------------------------------------------------------------------------
# Saving directory
#--------------------------------------------------------------------------------------------
# "/projectnb/semslam/armandok/saved"
Dir.save: "./saved"
Dir.bow: "orb_mur.fbow"
Dir.scene: "/home/tronlab/Code/pyslamu/matterport/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb"