Parameters

Camera

Name

Description

name

It is used by the camera database to identify the camera.

setup

monocular, stereo, RGBD

model

perspective, fisheye, equirectangular, radial_division (note: If you want to use stereo_rectifier, you need to specify perspective.)

fx, fy

Focal length (pixel)

cx, cy

Principal point (pixel)

k1, k2, p1, p2, k3

Distortion parameters for perspective camera. When using StereoRectifier, there is no distortion after stereo rectification.

k1, k2, k3, k4

Distortion parameters for fisheye camera

distortion

Distortion parameters for radial_division camera

fps

Framerate of input images

cols, rows

Resolution (pixel)

color_order

Gray, RGB, RGBA, BGR, BGRA

focal_x_baseline

For stereo cameras, it is the value of the baseline between the left and right cameras multiplied by the focal length fx. For RGBD cameras, if the measurement method is stereo, set it based on its baseline. If the measurement method is other than that, set the appropriate value based on the relationship between depth accuracy and baseline.

Feature

Name

Description

scale_factor

Scale of the image pyramid

num_levels

Number of levels of in the image pyramid

ini_fast_threshold

FAST threshold for try first

min_fast_threshold

FAST threshold for try second time

Tracking

Name

Description

max_num_keypoints

Maximum number of feature points per frame to be used for SLAM.

ini_max_num_keypoints

Maximum number of feature points per frame to be used for Initialization. It is only used for monocular camera models.

depth_threshold

The ratio used to determine the depth threshold.

depthmap_factor

The ratio used to convert depth image pixel values to distance.

reloc_distance_threshold

Maximum distance threshold (in meters) where close keyframes could be found when doing a relocalization by pose.

reloc_angle_threshold

Maximum angle threshold (in radians) between given pose and close keyframes when doing a relocalization by pose.

enable_auto_relocalization

If true, automatically try to relocalize when lost.

use_robust_matcher_for_relocalization_request

If true, use robust_matcher for relocalization request.

Mapping

Name

Description

baseline_dist_thr_ratio

For two frames of baseline below the threshold, no triangulation will be performed. In the monocular case, the scale is indefinite, so relative values are recommended. Either baseline_dist_thr or this one should be specified. If not specified, baseline_dist_thr_ratio will be used.

baseline_dist_thr

For two frames of baseline below the threshold, no triangulation will be performed.

redundant_obs_ratio_thr

StereoRectifier

Name

Description

model

camera model type before rectification. The option is perspective or fisheye. (note: If you want to use fisheye model for stereo_rectifier, you need to specify Camera::model to perspective.)

K_left, K_right

Intrinsic parameters. The 3x3 matrix are written in row-major order.

D_left, D_right

Distortion parameters. The 5 parameters are k1, k2, p1, p2, k3.

R_left, R_right

Stereo-recitification parameters. The 3x3 matrix are written in row-major order.

Initializer

Name

Description

num_min_triangulated_pts

Minimum number of triangulated points

Relocalizer

Name

Description

bow_match_lowe_ratio

proj_match_lowe_ratio

min_num_bow_matches

min_num_valid_obs

PangolinViewer

Name

Description

keyframe_size

keyframe_line_width

graph_line_width

point_size

camera_size

camera_line_width

viewpoint_x, viewpoint_y, viewpoint_z, viewpoint_f

SocketPublisher

Name

Description

emitting_interval

image_quality

server_uri

publish_points

If true, pointcloud transfer is enabled. The default is true. Pointcloud transfer is slow, so disabling pointcloud transfer may be useful to improve performance of SocketViewer.

LoopDetector

Name

Description

enabled

flag which indicates the loop detector is enabled or not

num_final_matches_threshold

the threshold of the number of mutual matches after the Sim3 estimation

min_continuity

the threshold of the continuity of continuously detected keyframe set

BowDatabase

Name

Description

reject_by_graph_distance

loop_min_distance_on_graph