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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- Camera.type: "KannalaBrandt8"
- # Left Camera calibration and distortion parameters (OpenCV)
- Camera.fx: 284.9501953125
- Camera.fy: 285.115295410156
- Camera.cx: 420.500213623047
- Camera.cy: 400.738098144531
- # Kannala-Brandt distortion parameters
- Camera.k1: -0.00530046410858631
- Camera.k2: 0.0423333682119846
- Camera.k3: -0.03949885815382
- Camera.k4: 0.00682387687265873
- # Right Camera calibration and distortion parameters (OpenCV)
- Camera2.fx: 285.001312255859
- Camera2.fy: 284.914215087891
- Camera2.cx: 411.864196777344
- Camera2.cy: 403.41259765625
- # Kannala-Brandt distortion parameters
- Camera2.k1: -0.00375203299336135
- Camera2.k2: 0.0379297286272049
- Camera2.k3: -0.0352463386952877
- Camera2.k4: 0.00548873096704
-
- # Transformation matrix from right camera to left camera
- Tlr: !!opencv-matrix
- rows: 3
- cols: 4
- dt: f
- data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
- -0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
- -0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05]
- # Lapping area between images (We must calculate)
- Camera.lappingBegin: 0
- Camera.lappingEnd: 847
- Camera2.lappingBegin: 0
- Camera2.lappingEnd: 847
- # Camera resolution
- Camera.width: 848
- Camera.height: 800
- # Camera frames per second
- Camera.fps: 30.0
- # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
- Camera.RGB: 1
- # Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
- Camera.imageScale: 0.7071 # 1/sqrt(2)
- # Close/Far threshold. Baseline times.
- ThDepth: 40.0
- # stereo baseline times fx
- Camera.bf: 18.143917436
- #--------------------------------------------------------------------------------------------
- # ORB Parameters
- #--------------------------------------------------------------------------------------------
- # ORB Extractor: Number of features per image
- ORBextractor.nFeatures: 1000 # Tested with 1250
- # ORB Extractor: Scale factor between levels in the scale pyramid
- ORBextractor.scaleFactor: 1.2
- # ORB Extractor: Number of levels in the scale pyramid
- ORBextractor.nLevels: 8
- # ORB Extractor: Fast threshold
- # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
- # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
- # You can lower these values if your images have low contrast
- ORBextractor.iniThFAST: 15 # 20
- ORBextractor.minThFAST: 7 # 7
- #--------------------------------------------------------------------------------------------
- # Viewer Parameters
- #--------------------------------------------------------------------------------------------
- Viewer.KeyFrameSize: 0.05
- Viewer.KeyFrameLineWidth: 1
- Viewer.GraphLineWidth: 0.9
- Viewer.PointSize: 2
- Viewer.CameraSize: 0.08
- Viewer.CameraLineWidth: 3
- Viewer.ViewpointX: 0
- Viewer.ViewpointY: -0.7
- Viewer.ViewpointZ: -3.5
- Viewer.ViewpointF: 500
|
