117 lines
3.3 KiB
YAML
117 lines
3.3 KiB
YAML
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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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Camera.type: "PinHole"
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 707.0912
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Camera.fy: 707.0912
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Camera.cx: 601.8873
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Camera.cy: 183.1104
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Camera.k1: 0.0
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Camera.k2: 0.0
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Camera.p1: 0.0
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Camera.p2: 0.0
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Camera.bFishEye: 0
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Camera.width: 1241
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Camera.height: 376
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# Camera frames per second
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Camera.fps: 10.0
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# stereo baseline times fx
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Camera.bf: 379.8145
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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ThDepth: 40
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# Opencv format
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LEFT.height: 1241
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LEFT.width: 376
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LEFT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data: [0.0, 0.0, 0.0, 0.0, 0.0]
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LEFT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0]
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LEFT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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LEFT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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data: [7.070912000000e+02, 0.000000000000e+00, 6.018873000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.070912000000e+02, 1.831104000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
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RIGHT.height: 1241
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RIGHT.width: 376
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RIGHT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data: [0.0, 0.0, 0.0, 0.0, 0.0]
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RIGHT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0]
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RIGHT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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RIGHT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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data: [7.070912000000e+02, 0.000000000000e+00, 6.018873000000e+02, -3.798145000000e+02, 0.000000000000e+00, 7.070912000000e+02, 1.831104000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 2000
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 12
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.6
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Viewer.KeyFrameLineWidth: 2
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Viewer.GraphLineWidth: 1
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Viewer.PointSize:2
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Viewer.CameraSize: 0.7
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -100
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Viewer.ViewpointZ: -0.1
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Viewer.ViewpointF: 2000
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