一个yaml文件例子
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856
Camera.fy: 718.856
Camera.cx: 607.1928
Camera.cy: 185.2157
Camera.k1: -0.3691481 # D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02
Camera.k2: 0.1968681
Camera.p1: 0.0005677587
Camera.p2: -0.06770705
Camera.k3: 0.001353473
Camera.width: 1241
Camera.height: 376
# Camera frames per second
Camera.fps: 10.0
# IR projector baseline times fx (aprox.)
Camera.bf: 40.0 #待确定
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 80.0 #TUM1.YAML=40,待确定
# Deptmap values factor
Dept
