orb slam3 kitti00_02.yaml注释

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
#对于slam3来说必不可少的一个添加
Camera.type: "PinHole"
#Camera.type: "KannalaBrandt8"
#除这两种相机类型外，其余类型或者不给出具体类型时程序报错
#Not Supported Camera Sensor


#其中fx，fy，cx，cy，k1，k2，p2，p2，k3（可选）是相机内参的组成部分
#上述参数必须是float类型！！！
# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 718.856
Camera.fy: 718.856
Camera.cx: 607.1928
Camera.cy: 185.2157

#distortion parameters
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

# Camera frames per second 
#每秒相机的帧数，相机拍照的频率。类型没有明确要求，最好是float
Camera.fps: 30.0

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

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

# ORB Extractor: Number of features per image
#特征点的个数
ORBextractor.nFeatures: 5000

# ORB Extractor: Scale factor between levels in the scale pyramid 	
#相邻层图像的比例系数
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid
#构造金字塔的层数	
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		
#检测fast角点阈值	
#没有检测到角点的前提下降低阈值
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
#可视化参数
Viewer.KeyFrameSize: 0.1
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 1
Viewer.PointSize:2
Viewer.CameraSize: 0.15
Viewer.CameraLineWidth: 2
Viewer.ViewpointX: 0
Viewer.ViewpointY: -10
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000