94 lines
3.0 KiB
YAML
94 lines
3.0 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: 816.9037
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Camera1.fy: 811.5680
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Camera1.cx: 608.5072
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Camera1.cy: 263.4759
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Camera1.k1: -0.056143027782782
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Camera1.k2: 0.139525632030074
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Camera1.k3: -0.080878168794740
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Camera1.p1: -0.001215590686538
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Camera1.p2: -9.728139470848294e-04
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Camera2.fx: 8.137820553958778e+02
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Camera2.fy: 8.085216557426838e+02
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Camera2.cx: 6.138641953932292e+02
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Camera2.cy: 2.494104934865211e+02
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Camera2.k1: -0.054921981757479
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Camera2.k2: 0.142436574286058
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Camera2.k3: -0.085665408330633
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Camera2.p1: 7.541230501084140e-05
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Camera2.p2: -6.756052742429136e-04
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Camera.width: 1280
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Camera.height: 560
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# Camera frames per second
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Camera.fps: 10
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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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# Is taken from the stereoParam calibration file.
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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: [ 0.999991433056271, 0.002082719758761, 0.003577162628705, -4.751436000507748e-1,
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-0.002066281899364, 0.999987318309473, -0.004592787752592, -1.144594387276745e-3,
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-0.003586682754036, 0.004585356980047, 0.999983054960527, 2.012928530231533e-3,
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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: "ComplexUrban32"
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System.SaveAtlasToFile: "ComplexUrban32"
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