settings.yaml

it is the configuration file and it is used to change the current algorithm and the other parameters of the algorithm.

change the current algorithm

To change the algorithm settings you can modify the setting.yaml file in the line

SLAM.alg:'insert here your .py file that contains the wrapper class'

ORB_SLAM2 and ORB_SLAM3 settings

the other params for the ORB_SLAM2/3 algorithm are :

  • SLAM.vocab_path: “Path to the ORB_SLAM2/3 vocabular file”

  • SLAM.settings_path: “Path to the ORB_SLAM2/3 .yaml settings file”

add your own settings

if you add your method with this you can add in settings.yaml the params needed for your application execution in the form

params_name : 'params_values'

Drawer Params

See setting.yaml for examples values

  • **Drawer.eye.x ** determines the x view point about the origin of this scene.

  • **Drawer.eye.y ** determines the y view point about the origin of this scene.

  • **Drawer.eye.z ** determines the z view point about the origin of this scene.

  • **Drawer.center.x ** determines the x plane translation about the origin of this scene.

  • **Drawer.center.y ** determines the y plane translation about the origin of this scene.

  • **Drawer.scale_grade.x ** determines the zoom about x plane.

  • **Drawer.scale_grade.y ** determines the zoom about y plane.

  • **Drawer.scale_grade.z ** (float): determines the zoom about z plane.

  • Drawer.aspectratio.x to set the x-axis aspecratio.

  • Drawer.aspectratio.y to set the y-axis aspecratio.

  • Drawer.aspectratio.z to set the z-axis aspecratio.

  • Drawer.point_size the size of the marker point in pixel.