From 22fcdd9f3347346a7dd01f1e52e4620b96a0ca42 Mon Sep 17 00:00:00 2001
From: ultramarine1939-syujie <2021218017@mail.hfut.edu.cn>
Date: Tue, 21 Nov 2023 17:18:04 +0800
Subject: [PATCH] update

---
 Examples/ROS/ORB_SLAM3/Mini2.yaml | 70 +++++++++++++++++++++++++++++++
 start.sh                          |  1 +
 2 files changed, 71 insertions(+)
 create mode 100644 Examples/ROS/ORB_SLAM3/Mini2.yaml
 create mode 100755 start.sh

diff --git a/Examples/ROS/ORB_SLAM3/Mini2.yaml b/Examples/ROS/ORB_SLAM3/Mini2.yaml
new file mode 100644
index 0000000000..836ba2b489
--- /dev/null
+++ b/Examples/ROS/ORB_SLAM3/Mini2.yaml
@@ -0,0 +1,70 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 467.637
+Camera.fy: 466.399
+Camera.cx: 320.367
+Camera.cy: 234.009
+
+Camera.k1: -0.0603
+Camera.k2: 0.0396
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+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: 1
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 1.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 10000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+
diff --git a/start.sh b/start.sh
new file mode 100755
index 0000000000..64f2d3639e
--- /dev/null
+++ b/start.sh
@@ -0,0 +1 @@
+rosrun ORB_SLAM3 Mono /home/ubuntu/temp/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/ubuntu/temp/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Mini2.yaml