| %YAML:1.0 | |
| File.version: "1.0" | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Extractor: Number of features per image | |
| ORBextractor.nFeatures: 1000 | |
| # 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: 20 | |
| ORBextractor.minThFAST: 7 | |
| #-------------------------------------------------------------------------------------------- | |
| # Viewer Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| Viewer.KeyFrameSize: 0.05 | |
| Viewer.KeyFrameLineWidth: 1.0 | |
| Viewer.GraphLineWidth: 0.9 | |
| Viewer.PointSize: 2.0 | |
| Viewer.CameraSize: 0.08 | |
| Viewer.CameraLineWidth: 3.0 | |
| Viewer.ViewpointX: 0.0 | |
| Viewer.ViewpointY: -0.7 | |
| Viewer.ViewpointZ: -3.5 # -1.8 | |
| Viewer.ViewpointF: 500.0 | |