118 lines
3.9 KiB
YAML
118 lines
3.9 KiB
YAML
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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters
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#--------------------------------------------------------------------------------------------
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 858.08891142058
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Camera.fy: 858.08891142058
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Camera.cx: 599.4950790405273
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Camera.cy: 344.66563415527344
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Camera.k1: 0.0
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Camera.k2: 0.0
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Camera.p1: 0.0
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Camera.p2: 0.0
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Camera.height: 720
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Camera.width: 1280
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# Camera frames per second
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Camera.fps: 60.0
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# stereo baseline times fx
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# Spiri baseline = 53mm = 0.053m
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Camera.bf: 45.4787123053
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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: 0
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# Close/Far threshold. Baseline times.
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ThDepth: 35
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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: 720
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LEFT.width: 1280
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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: [-0.38274884059323255, 0.13882784820394012, 0.0013228079981012287, 0.000610515166596169, 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: [872.0827132010173, 0.0, 629.146800831531, 0.0, 872.9486851144557, 329.7833373150439, 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: [0.9998422733068986, -0.007605901683869659, 0.016049260670464208, 0.007604212038624664, 0.9999710737331147, 0.0001663018737299101, -0.016050061300968175, -4.4233662283887984e-05, 0.9998711884916068]
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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: [858.08891142058, 0.0, 599.4950790405273, 0.0, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
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RIGHT.height: 720
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RIGHT.width: 1280
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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: [-0.37613139424849784, 0.12947511985930749, 0.0001911664252283371, 0.00020105328605981988, 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: [868.0090164746218, 0.0, 627.0717114982791, 0.0, 868.6735344383518, 357.03758653892595, 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: [0.9995325381102218, 0.00837959770719308, 0.029402170008415367, -0.00837650207609846, 0.9999648903939145, -0.00022845668221993547, -0.02940305208489884, -1.7937450689705826e-05, 0.9995676366341303]
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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: [858.08891142058, 0.0, 599.4950790405273, -430.0724725519876, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
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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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