118 lines
3.3 KiB
YAML
118 lines
3.3 KiB
YAML
%YAML:1.0
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# Camera Parameters. Adjust them!
|
|
#--------------------------------------------------------------------------------------------
|
|
Camera.type: "PinHole"
|
|
|
|
# Camera calibration and distortion parameters (OpenCV)
|
|
Camera.fx: 718.856
|
|
Camera.fy: 718.856
|
|
Camera.cx: 607.1928
|
|
Camera.cy: 185.2157
|
|
|
|
Camera.k1: 0.0
|
|
Camera.k2: 0.0
|
|
Camera.p1: 0.0
|
|
Camera.p2: 0.0
|
|
|
|
Camera.bFishEye: 0
|
|
|
|
Camera.width: 1241
|
|
Camera.height: 376
|
|
|
|
# Camera frames per second
|
|
Camera.fps: 10.0
|
|
|
|
# stereo baseline times fx
|
|
Camera.bf: 386.1448
|
|
|
|
# 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: 35
|
|
|
|
# Opencv format
|
|
|
|
LEFT.height: 1241
|
|
LEFT.width: 376
|
|
LEFT.D: !!opencv-matrix
|
|
rows: 1
|
|
cols: 5
|
|
dt: d
|
|
data: [0.0, 0.0, 0.0, 0.0, 0.0]
|
|
LEFT.K: !!opencv-matrix
|
|
rows: 3
|
|
cols: 3
|
|
dt: d
|
|
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
|
|
LEFT.R: !!opencv-matrix
|
|
rows: 3
|
|
cols: 3
|
|
dt: d
|
|
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
|
|
LEFT.P: !!opencv-matrix
|
|
rows: 3
|
|
cols: 4
|
|
dt: d
|
|
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
|
|
|
|
RIGHT.height: 1241
|
|
RIGHT.width: 376
|
|
RIGHT.D: !!opencv-matrix
|
|
rows: 1
|
|
cols: 5
|
|
dt: d
|
|
data: [0.0, 0.0, 0.0, 0.0, 0.0]
|
|
RIGHT.K: !!opencv-matrix
|
|
rows: 3
|
|
cols: 3
|
|
dt: d
|
|
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
|
|
RIGHT.R: !!opencv-matrix
|
|
rows: 3
|
|
cols: 3
|
|
dt: d
|
|
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
|
|
RIGHT.P: !!opencv-matrix
|
|
rows: 3
|
|
cols: 4
|
|
dt: d
|
|
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, -3.861448000000e+02, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# ORB Parameters
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
# ORB Extractor: Number of features per image
|
|
ORBextractor.nFeatures: 2000
|
|
|
|
# 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: 0.6
|
|
Viewer.KeyFrameLineWidth: 2
|
|
Viewer.GraphLineWidth: 1
|
|
Viewer.PointSize: 2
|
|
Viewer.CameraSize: 0.7
|
|
Viewer.CameraLineWidth: 3
|
|
Viewer.ViewpointX: 0
|
|
Viewer.ViewpointY: -100
|
|
Viewer.ViewpointZ: -0.1
|
|
Viewer.ViewpointF: 2000
|
|
|