101 lines
3.3 KiB
YAML
101 lines
3.3 KiB
YAML
%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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File.version: "1.0"
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Camera.type: "PinHole"
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Camera1.fx: 278.66723066149086
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Camera1.fy: 278.48991409740296
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Camera1.cx: 319.75221200593535
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Camera1.cy: 241.96858910358173
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Camera1.k1: -0.013721808247486035
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Camera1.k2: 0.020727425669427896
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Camera1.p1: -0.012786476702685545
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Camera1.p2: 0.0025242267320687625
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Camera2.fx: 277.61640629770613
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Camera2.fy: 277.63749695723294
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Camera2.cx: 314.8944703346039
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Camera2.cy: 236.04310050462587
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Camera2.k1: -0.008456929295619607
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Camera2.k2: 0.011407590938612062
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Camera2.p1: -0.006951788325762078
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Camera2.p2: 0.0015368127092821786
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30
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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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Stereo.ThDepth: 60.0
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#Stereo.T_c1_c2: !!opencv-matrix
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# rows: 4
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# cols: 4
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# dt: f
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# data: [ 0.9998053017199788, 0.011197738450911484, 0.01624713224548414, -0.07961594300469246,
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# -0.011147758116324, 0.9999328574031386, -0.0031635699090552883, #0.0007443452072558462,
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# -0.016281466199246444, 0.00298183486707869, 0.9998630018753686, #0.0004425529195268342,
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# 0, 0, 0, 1.000000000000000]
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Stereo.T_c1_c2: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [ 9.99805302e-01, -1.11477581e-02, -1.62814662e-02, 7.96159451e-02,
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1.11977385e-02, 9.99932857e-01, 2.98183487e-03, 1.45903657e-04,
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1.62471322e-02, -3.16356991e-03, 9.99863002e-01, 8.53393252e-04,
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0, 0, 0, 1.000000000000000]
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#Camera.bf: 388.151174248813
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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: 1250 # Tested with 1250
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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: 20
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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: 0.05
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Viewer.KeyFrameLineWidth: 1.0
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize: 2.0
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3.0
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Viewer.ViewpointX: 0.0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -3.5
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Viewer.ViewpointF: 500.0
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#--------------------------------------------------------------------------------------------
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# Atlas Parameters
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#--------------------------------------------------------------------------------------------
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System.LoadAtlasFromFile: "uzh-fpv0508_atlas"
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#System.SaveAtlasToFile: "uzh-fpv0508_atlas"
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