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2022-06-21 09:16:15 +03:00
commit 96f206fca0
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--- a/Examples/Stereo/EuRoC.yaml
+++ b/Examples/Stereo/EuRoC.yaml
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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 435.2046959714599
+Camera.fy: 435.2046959714599
+Camera.cx: 367.4517211914062
+Camera.cy: 252.2008514404297
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 752
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# stereo baseline times fx
+Camera.bf: 47.90639384423901
+
+# 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
+
+#--------------------------------------------------------------------------------------------
+# Stereo Rectification. Only if you need to pre-rectify the images.
+# Camera.fx, .fy, etc must be the same as in LEFT.P
+#--------------------------------------------------------------------------------------------
+LEFT.height: 480
+LEFT.width: 752
+LEFT.D: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data:[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
+LEFT.K: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
+LEFT.R:  !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
+LEFT.P:  !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [435.2046959714599, 0, 367.4517211914062, 0,  0, 435.2046959714599, 252.2008514404297, 0,  0, 0, 1, 0]
+
+RIGHT.height: 480
+RIGHT.width: 752
+RIGHT.D: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data:[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
+RIGHT.K: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
+RIGHT.R:  !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
+RIGHT.P:  !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1200
+
+# 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: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+