From a3a120521eeab35f933653c3476a6255dc0e2c6d Mon Sep 17 00:00:00 2001
From: pi-dell <pi@drivecast.tech>
Date: Wed, 20 Jul 2022 11:54:54 +0300
Subject: [PATCH] changed complex_urban config

---
 Examples/Stereo/ComplexUrban.yaml | 59 +++++++++++--------------------
 1 file changed, 20 insertions(+), 39 deletions(-)

diff --git a/Examples/Stereo/ComplexUrban.yaml b/Examples/Stereo/ComplexUrban.yaml
index 9bc91a9..7760115 100644
--- a/Examples/Stereo/ComplexUrban.yaml
+++ b/Examples/Stereo/ComplexUrban.yaml
@@ -3,73 +3,54 @@
 #--------------------------------------------------------------------------------------------
 # Camera Parameters. Adjust them!
 #--------------------------------------------------------------------------------------------
-#File.version: "1.0"
+File.version: "1.0"
 
 Camera.type: "PinHole"
 
-# Camera calibration and distortion parameters (OpenCV) 
 Camera1.fx: 816.9037
 Camera1.fy: 811.5680
 Camera1.cx: 608.5072
 Camera1.cy: 263.4759
 
-Camera.fx: 816.9037
-Camera.fy: 811.5680
-Camera.cx: 608.5072
-Camera.cy: 263.4759
+Camera1.k1: -0.056143027782782
+Camera1.k2: 0.139525632030074
+Camera1.k3: -0.080878168794740
+Camera1.p1: -0.001215590686538
+Camera1.p2: -9.728139470848294e-04
 
-# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
-#Camera.bFishEye: 1
-Camera.k1: -0.056143027782782
-Camera.k2: 0.139525632030074
-#Camera.k3: -0.080878168794740
-Camera.p1: -0.001215590686538
-Camera.p2: -9.728139470848294e-04
-
-# Second camera
-#Camera2.type: "PinHole"
 Camera2.fx: 8.137820553958778e+02
 Camera2.fy: 8.085216557426838e+02
 Camera2.cx: 6.138641953932292e+02
 Camera2.cy: 2.494104934865211e+02
 
-# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
-#Camera.bFishEye: 1
 Camera2.k1: -0.054921981757479
 Camera2.k2: 0.142436574286058
-#Camera2.k3: -0.085665408330633
+Camera2.k3: -0.085665408330633
 Camera2.p1: 7.541230501084140e-05
-Camera2.p1: -6.756052742429136e-04
+Camera2.p2: -6.756052742429136e-04
 
-Tlr: !!opencv-matrix
-  rows: 3
-  cols: 4
-  dt: f
-  data: [ 0.999991433056271,   0.002082719758761,   0.003577162628705,   -4.751436000507748e-1,
-            -0.002066281899364,   0.999987318309473,   -0.004592787752592,   -1.144594387276745e-3,
-            -0.003586682754036,  0.004585356980047,   0.999983054960527,   2.012928530231533e-3]
-    
-# Camera resolution
 Camera.width: 1280
 Camera.height: 560
 
-# Lapping area between images
-Camera.lappingBegin: 0
-Camera.lappingEnd: 1279
-
-Camera2.lappingBegin: 0
-Camera2.lappingEnd: 1279
-
 # Camera frames per second 
-Camera.fps: 20
+Camera.fps: 10
 
 # 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: 40.0
+# Is taken from the stereoParam calibration file. 
+Stereo.ThDepth: 60.0
+Stereo.T_c1_c2: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [ 0.999991433056271,   0.002082719758761,   0.003577162628705,   -4.751436000507748e-1,
+            -0.002066281899364,   0.999987318309473,   -0.004592787752592,   -1.144594387276745e-3,
+            -0.003586682754036,  0.004585356980047,   0.999983054960527,   2.012928530231533e-3,
+            0, 0, 0, 1.000000000000000]
 
-Camera.bf: 388.151174248813
+#Camera.bf: 388.151174248813
 
 #--------------------------------------------------------------------------------------------
 # ORB Parameters