dataset_name: 'tum'
camera_params:
  image_height: 480
  image_width: 640
  fx: 517.3
  fy: 516.5
  cx: 318.6
  cy: 255.3
  crop_edge: 8
  png_depth_scale: 5000.0
  # distortion: [0.2624, -0.9531, -0.0054, 0.0026, 1.1633]