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Examples
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Stereo
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TUM_512.yaml

TUM_512.yaml 3.0 KB
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  1. %YAML:1.0
    2. 

  2. 

  3. #--------------------------------------------------------------------------------------------
    4. 

  4. # Camera Parameters. Adjust them!
    5. 

  5. #--------------------------------------------------------------------------------------------
    6. 

  6. Camera.type: "KannalaBrandt8"
    7. 

  7. 

  8. # Left Camera calibration and distortion parameters (OpenCV)
    9. 

  9. Camera.fx: 190.97847715128717
    10. 

  10. Camera.fy: 190.9733070521226
    11. 

  11. Camera.cx: 254.93170605935475
    12. 

  12. Camera.cy: 256.8974428996504
    13. 

  13. 

  14. # Kannala-Brandt distortion parameters
    15. 

  15. Camera.k1: 0.0034823894022493434
    16. 

  16. Camera.k2: 0.0007150348452162257
    17. 

  17. Camera.k3: -0.0020532361418706202
    18. 

  18. Camera.k4: 0.00020293673591811182
    19. 

  19. 

  20. # Right Camera calibration and distortion parameters (OpenCV)
    21. 

  21. Camera2.fx: 190.44236969414825
    22. 

  22. Camera2.fy: 190.4344384721956
    23. 

  23. Camera2.cx: 252.59949716835982
    24. 

  24. Camera2.cy: 254.91723064636983
    25. 

  25. 

  26. # Kannala-Brandt distortion parameters
    27. 

  27. Camera2.k1: 0.0034003170790442797
    28. 

  28. Camera2.k2: 0.001766278153469831
    29. 

  29. Camera2.k3: -0.00266312569781606
    30. 

  30. Camera2.k4: 0.0003299517423931039
    31. 

  31. 

  32. # Transformation matrix from right camera to left camera
    33. 

  33. #Tlr: !!opencv-matrix
    34. 

  34. #   rows: 3
    35. 

  35. #   cols: 4
    36. 

  36. #   dt: f
    37. 

  37. #   data: [ 1.0000,    0.0008,    0.0007,    0.1011,
    38. 

  38. #             -0.0008,    0.9989,    0.0469,    0.0019,
    39. 

  39. #             -0.0007,   -0.0469,    0.9989,    0.0010]
    40. 

  40. 

  41. Tlr: !!opencv-matrix
    42. 

  42.   rows: 3
    43. 

  43.   cols: 4
    44. 

  44.   dt: f
    45. 

  45.   data: [ 0.999999445773493,   0.000791687752817,   0.000694034010224,   0.101063427414194,
    46. 

  46.             -0.000823363992158,   0.998899461915674,   0.046895490788700,   0.001946204678584,
    47. 

  47.             -0.000656143613644,  -0.046896036240590,   0.998899560146304,   0.001015350132563]
    48. 

  48. 

  49. # Lapping area between images
    50. 

  50. Lapping.left: 0
    51. 

  51. Lapping.right: 511
    52. 

  52. 

  53. 

  54. # Camera frames per second
    55. 

  55. Camera.fps: 20.0
    56. 

  56. 

  57. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    58. 

  58. Camera.RGB: 1
    59. 

  59. 

  60. # Close/Far threshold. Baseline times.
    61. 

  61. ThDepth: 40
    62. 

  62. 

  63. Camera.bf: 19.3079
    64. 

  64. 

  65. #--------------------------------------------------------------------------------------------
    66. 

  66. # ORB Parameters
    67. 

  67. #--------------------------------------------------------------------------------------------
    68. 

  68. 

  69. # ORB Extractor: Number of features per image
    70. 

  70. ORBextractor.nFeatures: 1000
    71. 

  71. 

  72. # ORB Extractor: Scale factor between levels in the scale pyramid
    73. 

  73. ORBextractor.scaleFactor: 1.2
    74. 

  74. 

  75. # ORB Extractor: Number of levels in the scale pyramid
    76. 

  76. ORBextractor.nLevels: 8
    77. 

  77. 

  78. 

  79. # ORB Extractor: Fast threshold
    80. 

  80. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    81. 

  81. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    82. 

  82. # You can lower these values if your images have low contrast
    83. 

  83. ORBextractor.iniThFAST: 20
    84. 

  84. ORBextractor.minThFAST: 7
    85. 

  85. 

  86. #--------------------------------------------------------------------------------------------
    87. 

  87. # Viewer Parameters
    88. 

  88. #--------------------------------------------------------------------------------------------
    89. 

  89. Viewer.KeyFrameSize: 0.05
    90. 

  90. Viewer.KeyFrameLineWidth: 1
    91. 

  91. Viewer.GraphLineWidth: 1
    92. 

  92. Viewer.PointSize:2
    93. 

  93. Viewer.CameraSize: 0.05
    94. 

  94. Viewer.CameraLineWidth: 2
    95. 

  95. Viewer.ViewpointX: 0
    96. 

  96. Viewer.ViewpointY: -10
    97. 

  97. Viewer.ViewpointZ: -0.1
    98. 

  98. Viewer.ViewpointF: 2000
    99.