WEBCAM.yaml

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
# Viewer.on: 1 is ON, 0 is OFF
Viewer.on: 1

Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 1
Viewer.LineSize: 1
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

#camera matrix:
# [[720.74677588   0.         324.72460102]
# [  0.         720.87434544 238.97483313]
# [  0.           0.           1.        ]]
#distortion coefficients:  [-1.96841029e-02 -5.74293178e-01 -6.78065914e-04  8.34984375e-04 1.59969276e+00]


# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 720.74677588
Camera.fy: 720.87434544
Camera.cx: 324.72460102
Camera.cy: 238.97483313

Camera.k1: -1.96841029e-02
Camera.k2: -5.74293178e-01
Camera.p1: -6.78065914e-04
Camera.p2: 8.34984375e-04
Camera.k3: 1.59969276e+00

Camera.width: 640
Camera.height: 480

# Camera frames per second 
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 40.0

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

# Close/Far threshold. Baseline times.
ThDepth: 40.0

# Deptmap values factor
DepthMapFactor: 1.0


#--------------------------------------------------------------------------------------------
# Features extraction 
#--------------------------------------------------------------------------------------------

FeatureExtractor.nFeatures: 1000