freiburg1_config.yaml

## sample config file for RGBSequence class
# For RGBD Freiburg Dataset Sequence 1

# name of the sequence
cam_name: 'freiburg1'

# data directory
# provide the absolute path (i.e. /home/<name>/...) or a relative path with respect to location of this YAML file
cam_dir: '../../data/rgbd_dataset_freiburg1_desk'

# rgb camera parameters
rgb_parameters:
  - f_x: 517.3
  - f_y: 516.5
  - c_x: 318.6
  - c_y: 255.3
  - width: 640
  - height: 480

# depth camera parameters
depth_parameters:
  - min: 0.2              # minimum depth (in meter)
  - max: 5.0              # maximum depth (in meter)
  - scaling: 5000         # rescaling of depth images

# performing time syncing operation
time_syncing_parameters:
  - max_difference: 0.02   # search radius for candidate generation
  - offset: 0.0            # time offset (e.g., to model the delay between the sensors)

# tracking parameters
tracking_parameters:       # threshold values for creating a new key frame
  - key_valid_pixel_ratio_threshold: 0.5
  - key_angle_deg_threshold: 6.0
  - key_distance_threshold: 0.15

# base_to_camera transformation
base_name: 'base'           # name of base frame
base_to_cam_pose:
  - translation:            # cartesian coordinates
    - x: 0
    - y: 0
    - z: 0
  - orientation:            # quaternion orientation
    - w: 1
    - x: 0
    - y: 0
    - z: 0