Upload files to 'Examples/Stereo'

2022-07-13 12:56:14 +03:00
parent 594418420d
commit d5deb4f5e0
1 changed files with 100 additions and 0 deletions
--- a/Examples/Stereo/uzh-fpv.yaml
+++ b/Examples/Stereo/uzh-fpv.yaml
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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+Camera1.fx: 278.66723066149086
+Camera1.fy: 278.48991409740296
+Camera1.cx: 319.75221200593535
+Camera1.cy: 241.96858910358173
+
+Camera1.k1: -0.013721808247486035
+Camera1.k2: 0.020727425669427896
+Camera1.p1: -0.012786476702685545
+Camera1.p2: 0.0025242267320687625
+
+Camera2.fx: 277.61640629770613
+Camera2.fy: 277.63749695723294
+Camera2.cx: 314.8944703346039
+Camera2.cy: 236.04310050462587
+
+Camera2.k1: -0.008456929295619607
+Camera2.k2: 0.011407590938612062
+Camera2.p1: -0.006951788325762078
+Camera2.p2: 0.0015368127092821786
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+Stereo.ThDepth: 60.0
+#Stereo.T_c1_c2: !!opencv-matrix
+#  rows: 4
+#  cols: 4
+#  dt: f
+#  data: [ 0.9998053017199788,   0.011197738450911484,   0.01624713224548414,   -0.07961594300469246,
+#            -0.011147758116324,   0.9999328574031386,   -0.0031635699090552883,   #0.0007443452072558462,
+#            -0.016281466199246444,  0.00298183486707869,   0.9998630018753686,   #0.0004425529195268342,
+#            0, 0, 0, 1.000000000000000]
+
+            
+Stereo.T_c1_c2: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [ 9.99805302e-01,   -1.11477581e-02,   -1.62814662e-02,   7.96159451e-02,
+            1.11977385e-02,   9.99932857e-01,   2.98183487e-03,   1.45903657e-04,
+            1.62471322e-02, -3.16356991e-03,   9.99863002e-01,   8.53393252e-04,
+            0, 0, 0, 1.000000000000000]
+
+#Camera.bf: 388.151174248813
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1250 # Tested with 1250
+
+# 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: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0
+
+#--------------------------------------------------------------------------------------------
+# Atlas Parameters
+#--------------------------------------------------------------------------------------------
+#System.LoadAtlasFromFile: "ComplexUrban32"
+#System.SaveAtlasToFile: ""