123 lines
3.6 KiB
YAML
123 lines
3.6 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: "Rectified"
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 718.856
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Camera.fy: 718.856
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Camera.cx: 607.1928
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Camera.cy: 185.2157
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Camera1.fx: 718.856
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Camera1.fy: 718.856
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Camera1.cx: 607.1928
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Camera1.cy: 185.2157
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Camera2.fx: 718.856
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Camera2.fy: 718.856
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Camera2.cx: 607.1928
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Camera2.cy: 185.2157
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Camera.width: 1241
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Camera.height: 376
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# Camera frames per second
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Camera.fps: 10
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Stereo.b: 0.53716
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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: 35.0
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# ============================================================
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# ===> NOTICE: Add camera parameters here <===
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LEFT.height: 1241
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LEFT.width: 376
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LEFT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data: [0.0, 0.0, 0.0, 0.0, 0.0]
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LEFT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
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LEFT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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LEFT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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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]
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RIGHT.height: 1241
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RIGHT.width: 376
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RIGHT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data: [0.0, 0.0, 0.0, 0.0, 0.0]
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RIGHT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
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RIGHT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
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RIGHT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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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]
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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: 2000
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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: 0.6
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Viewer.KeyFrameLineWidth: 2.0
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Viewer.GraphLineWidth: 1.0
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Viewer.PointSize: 2.0
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Viewer.CameraSize: 0.7
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Viewer.CameraLineWidth: 3.0
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Viewer.ViewpointX: 0.0
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Viewer.ViewpointY: -100
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Viewer.ViewpointZ: -0.1
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Viewer.ViewpointF: 2000.0
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