117 lines
3.1 KiB
YAML
117 lines
3.1 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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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 376.0
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Camera.fy: 376.0
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Camera.cx: 375.87198639
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Camera.cy: 240.0
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Camera.k1: 0
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Camera.k2: 0
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Camera.p1: 0
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Camera.p2: 0
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Camera.width: 752
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 7
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# stereo baseline times fx
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Camera.bf: 45.12
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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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ThDepth: 48
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#--------------------------------------------------------------------------------------------
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# Stereo Rectification. Only if you need to pre-rectify the images.
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# Camera.fx, .fy, etc must be the same as in LEFT.P
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#--------------------------------------------------------------------------------------------
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LEFT.height: 480
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LEFT.width: 752
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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: [-0.01, 0.004, 5e-5, -1e-4, 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: [376.0, 0.0, 376.0, 0.0, 376.0, 240.0, 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, 1, 0, 0, 0, 1]
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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: [376.0, 0, 375.87198639, 0, 0, 376.0, 240.04484177, 0, 0, 0, 1, 0]
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RIGHT.height: 480
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RIGHT.width: 752
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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: [-0.01, 0.004, 5e-5, -1e-4, 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: [376.0, 0.0, 376.0, 0.0, 376.0, 240.0, 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: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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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: [376.0, 0, 375.87198639, -45.12, 0, 376.0, 240.04484177, 0, 0, 0, 1, 0]
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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: 1200
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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
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize:2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -1.8
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Viewer.ViewpointF: 500
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