105 lines
3.2 KiB
YAML
105 lines
3.2 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.type: "KannalaBrandt8"
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# Left Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 190.97847715128717
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Camera.fy: 190.9733070521226
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Camera.cx: 254.93170605935475
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Camera.cy: 256.8974428996504
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# Kannala-Brandt distortion parameters
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Camera.k1: 0.0034823894022493434
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Camera.k2: 0.0007150348452162257
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Camera.k3: -0.0020532361418706202
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Camera.k4: 0.00020293673591811182
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# Right Camera calibration and distortion parameters (OpenCV)
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Camera2.fx: 190.44236969414825
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Camera2.fy: 190.4344384721956
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Camera2.cx: 252.59949716835982
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Camera2.cy: 254.91723064636983
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# Kannala-Brandt distortion parameters
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Camera2.k1: 0.0034003170790442797
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Camera2.k2: 0.001766278153469831
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Camera2.k3: -0.00266312569781606
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Camera2.k4: 0.0003299517423931039
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# Transformation matrix from right camera to left camera
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#Tlr: !!opencv-matrix
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# rows: 3
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# cols: 4
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# dt: f
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# data: [ 1.0000, 0.0008, 0.0007, 0.1011,
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# -0.0008, 0.9989, 0.0469, 0.0019,
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# -0.0007, -0.0469, 0.9989, 0.0010]
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Tlr: !!opencv-matrix
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rows: 3
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cols: 4
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dt: f
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data: [ 0.999999445773493, 0.000791687752817, 0.000694034010224, 0.101063427414194,
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-0.000823363992158, 0.998899461915674, 0.046895490788700, 0.001946204678584,
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-0.000656143613644, -0.046896036240590, 0.998899560146304, 0.001015350132563]
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# Camera resolution
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Camera.width: 512
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Camera.height: 512
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# Lapping area between images
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Camera.lappingBegin: 0
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Camera.lappingEnd: 511
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Camera2.lappingBegin: 0
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Camera2.lappingEnd: 511
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# Camera frames per second
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Camera.fps: 20.0
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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: 40.0
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Camera.bf: 19.3079
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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: 1000
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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: 1
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Viewer.PointSize:2
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Viewer.CameraSize: 0.05
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Viewer.CameraLineWidth: 2
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -10
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Viewer.ViewpointZ: -0.1
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Viewer.ViewpointF: 2000
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