2020-12-01 11:58:17 +08:00
|
|
|
%YAML:1.0
|
|
|
|
|
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
|
# Camera Parameters. Adjust them!
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
2022-03-28 21:20:28 +08:00
|
|
|
File.version: "1.0"
|
|
|
|
|
|
2020-12-01 11:58:17 +08:00
|
|
|
Camera.type: "PinHole"
|
|
|
|
|
|
|
|
|
|
# Camera calibration and distortion parameters (OpenCV)
|
2022-03-28 21:20:28 +08:00
|
|
|
Camera1.fx: 520.908620
|
|
|
|
|
Camera1.fy: 521.007327
|
|
|
|
|
Camera1.cx: 325.141442
|
|
|
|
|
Camera1.cy: 249.701764
|
2020-12-01 11:58:17 +08:00
|
|
|
|
2022-03-28 21:20:28 +08:00
|
|
|
Camera1.k1: 0.231222
|
|
|
|
|
Camera1.k2: -0.784899
|
|
|
|
|
Camera1.p1: -0.003257
|
|
|
|
|
Camera1.p2: -0.000105
|
|
|
|
|
Camera1.k3: 0.917205
|
2020-12-01 11:58:17 +08:00
|
|
|
|
|
|
|
|
# Camera frames per second
|
2022-03-28 21:20:28 +08:00
|
|
|
Camera.fps: 30
|
2020-12-01 11:58:17 +08:00
|
|
|
|
|
|
|
|
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
|
|
|
|
|
Camera.RGB: 1
|
|
|
|
|
|
|
|
|
|
# Camera resolution
|
|
|
|
|
Camera.width: 640
|
|
|
|
|
Camera.height: 480
|
|
|
|
|
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
|
# ORB Parameters
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
# ORB Extractor: Number of features per image
|
|
|
|
|
ORBextractor.nFeatures: 1000
|
|
|
|
|
|
|
|
|
|
# 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: 20
|
|
|
|
|
ORBextractor.minThFAST: 7
|
|
|
|
|
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
|
# Viewer Parameters
|
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
|
Viewer.KeyFrameSize: 0.05
|
2022-03-28 21:20:28 +08:00
|
|
|
Viewer.KeyFrameLineWidth: 1.0
|
2020-12-01 11:58:17 +08:00
|
|
|
Viewer.GraphLineWidth: 0.9
|
2022-03-28 21:20:28 +08:00
|
|
|
Viewer.PointSize: 2.0
|
2020-12-01 11:58:17 +08:00
|
|
|
Viewer.CameraSize: 0.08
|
2022-03-28 21:20:28 +08:00
|
|
|
Viewer.CameraLineWidth: 3.0
|
|
|
|
|
Viewer.ViewpointX: 0.0
|
2020-12-01 11:58:17 +08:00
|
|
|
Viewer.ViewpointY: -0.7
|
|
|
|
|
Viewer.ViewpointZ: -1.8
|
2022-03-28 21:20:28 +08:00
|
|
|
Viewer.ViewpointF: 500.0
|
2020-12-01 11:58:17 +08:00
|
|
|
|
