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NDEVR
API Documentation
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NDEVR
API Documentation
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Configuration parameters for the ORB-SLAM system. More...
Public Member Functions | |
| bool | readCamIMUYAMLFile (const File &f) |
| Reads camera and IMU parameters from a YAML file. | |
| void | readCamParamFile (const File &f) |
| Reads camera parameters from a file. | |
Public Attributes | |
| fltp04 | bf = 30.5f |
| Stereo baseline times focal length. | |
| eCameraModelType | camera_model = e_pinhole |
| Camera model type. | |
| CameraOptions | cameras [2] |
| Intrinsics for up to two cameras. | |
| fltp04 | depth_map_factor = 0.001f |
| Scale factor to convert raw depth to meters. | |
| uint04 | features_per_image = 1250 |
| Target number of ORB features per image. | |
| uint04 | fps = 30U |
| Expected camera frame rate. | |
| Vector< 2, uint04 > | image_size = Constant<Vector<2, uint04>>::Invalid |
| Image dimensions (width, height). | |
| fltp04 | imu_acc_walk = 1e-7f |
| Accelerometer random walk. | |
| bool | imu_fast_init = false |
| Whether to use fast IMU initialization. | |
| fltp04 | imu_frequency = 200.0f |
| IMU sampling frequency in Hz. | |
| fltp04 | imu_gyro_walk = 1e-7f |
| Gyroscope random walk. | |
| fltp04 | imu_noise_acc = 1e-2f |
| Accelerometer noise density. | |
| fltp04 | imu_noise_gyro = 1e-3f |
| Gyroscope noise density. | |
| uint04 | initial_fast_threshhold = 20 |
| Initial FAST corner threshold. | |
| bool | insert_KFS_when_lost = false |
| Whether to insert keyframes when tracking is lost. | |
| int | leftLappingBegin = -1 |
| Left image lapping area begin column. | |
| int | leftLappingEnd = -1 |
| Left image lapping area end column. | |
| uint04 | levels = 8 |
| Number of ORB pyramid levels. | |
| bool | loop_closing = true |
| Whether loop closing is enabled. | |
| fltp04 | max_distance = Constant<fltp04>::Invalid |
| Maximum tracking distance. | |
| uint04 | min_fast_threshold = 7 |
| Minimum FAST corner threshold (fallback). | |
| fltp04 | near_far_threshold = 40.0f |
| Threshold for near/far point classification. | |
| fltp04 | pyramid_scale_factor = 1.2f |
| Scale factor between pyramid levels. | |
| int | rightLappingBegin = -1 |
| Right image lapping area begin column. | |
| int | rightLappingEnd = -1 |
| Right image lapping area end column. | |
| Sensor | sensor |
| Input sensor configuration. | |
| Matrix< fltp08, 4, 4 > | Tbc = Matrix<fltp08, 4, 4>(1.0) |
| Body-to-camera (IMU offset) transform. | |
| Matrix< fltp04, 3, 4 > | Tlr = Constant<Matrix<fltp04, 3, 4>>::Invalid |
| Left-to-right camera transform. | |
Configuration parameters for the ORB-SLAM system.
Aggregates sensor type, camera intrinsics, ORB extraction settings, stereo/depth parameters, IMU noise models, and other runtime options.
Definition at line 55 of file SLAMParameters.h.
| bool SLAMParameters::readCamIMUYAMLFile | ( | const File & | f | ) |
Reads camera and IMU parameters from a YAML file.
| [in] | f | The YAML parameter file. |
| void SLAMParameters::readCamParamFile | ( | const File & | f | ) |
Reads camera parameters from a file.
| [in] | f | The parameter file. |