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Stereo
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RealSense_T265.yaml

RealSense_T265.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: 284.9501953125
    10. 

  10. Camera.fy: 285.115295410156
    11. 

  11. Camera.cx: 420.500213623047
    12. 

  12. Camera.cy: 400.738098144531
    13. 

  13. 

  14. # Kannala-Brandt distortion parameters
    15. 

  15. Camera.k1: -0.00530046410858631
    16. 

  16. Camera.k2: 0.0423333682119846
    17. 

  17. Camera.k3: -0.03949885815382
    18. 

  18. Camera.k4: 0.00682387687265873
    19. 

  19. 

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

  21. Camera2.fx: 285.001312255859
    22. 

  22. Camera2.fy: 284.914215087891
    23. 

  23. Camera2.cx: 411.864196777344
    24. 

  24. Camera2.cy: 403.41259765625
    25. 

  25. 

  26. # Kannala-Brandt distortion parameters
    27. 

  27. Camera2.k1: -0.00375203299336135
    28. 

  28. Camera2.k2: 0.0379297286272049
    29. 

  29. Camera2.k3: -0.0352463386952877
    30. 

  30. Camera2.k4: 0.00548873096704
    31. 

  31.     
    32. 

  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: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
    38. 

  38.             -0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
    39. 

  39.             -0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05]
    40. 

  40. 

  41. # Lapping area between images (We must calculate)
    42. 

  42. Camera.lappingBegin: 0
    43. 

  43. Camera.lappingEnd: 847 
    44. 

  44. 

  45. Camera2.lappingBegin: 0
    46. 

  46. Camera2.lappingEnd: 847
    47. 

  47. 

  48. # Camera resolution
    49. 

  49. Camera.width: 848
    50. 

  50. Camera.height: 800
    51. 

  51. 

  52. # Camera frames per second 
    53. 

  53. Camera.fps: 30.0
    54. 

  54. 

  55. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    56. 

  56. Camera.RGB: 1
    57. 

  57. 

  58. # Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
    59. 

  59. Camera.imageScale: 0.7071 # 1/sqrt(2)
    60. 

  60. 

  61. # Close/Far threshold. Baseline times.
    62. 

  62. ThDepth: 40.0
    63. 

  63. # stereo baseline times fx
    64. 

  64. Camera.bf: 18.143917436
    65. 

  65. 

  66. #--------------------------------------------------------------------------------------------
    67. 

  67. # ORB Parameters
    68. 

  68. #--------------------------------------------------------------------------------------------
    69. 

  69. 

  70. # ORB Extractor: Number of features per image
    71. 

  71. ORBextractor.nFeatures: 1000 # Tested with 1250
    72. 

  72. 

  73. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    74. 

  74. ORBextractor.scaleFactor: 1.2
    75. 

  75. 

  76. # ORB Extractor: Number of levels in the scale pyramid	
    77. 

  77. ORBextractor.nLevels: 8
    78. 

  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: 15 # 20
    84. 

  84. ORBextractor.minThFAST: 7 # 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: 0.9
    92. 

  92. Viewer.PointSize: 2
    93. 

  93. Viewer.CameraSize: 0.08
    94. 

  94. Viewer.CameraLineWidth: 3
    95. 

  95. Viewer.ViewpointX: 0
    96. 

  96. Viewer.ViewpointY: -0.7
    97. 

  97. Viewer.ViewpointZ: -3.5
    98. 

  98. Viewer.ViewpointF: 500
    99.