dataset_name: 'tum'
camera_params:
  image_height: 480
  image_width: 640
  fx: 520.9
  fy: 521.0
  cx: 325.1
  cy: 249.7
  crop_edge: 8
  png_depth_scale: 5000.0
  # distortion: [0.2312, -0.7849, -0.0033, -0.0001, 0.9172]