feat:添加相机参数

CMakeLists.txt

@@ -29,9 +29,9 @@ LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 # 要保证整个工程的opencv版本一致，包括dbow，源码以及ros相关的
 # 3 4 都可以正常运行
 find_package(OpenCV 4.2)
-   if(NOT OpenCV_FOUND)
+if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 4.2 not found.")
+  message(FATAL_ERROR "OpenCV > 4.2 not found.")
-   endif()
+endif()
 
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})

Examples/ROS/ORB_SLAM3/camera1280.yaml

@@ -0,0 +1,61 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 773.33397
+Camera.fy: 771.95162
+Camera.cx: 626.18642
+Camera.cy: 370.88181
+
+Camera.k1: -0.365133
+Camera.k2: 0.116872
+Camera.p1: -0.002987
+Camera.p2: -0.001401
+
+Camera.width: 1280
+Camera.height: 720
+
+# 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
+
+#--------------------------------------------------------------------------------------------
+# 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
+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: -1.8
+Viewer.ViewpointF: 500
+

Examples/ROS/ORB_SLAM3/camera1920.yaml

@@ -0,0 +1,61 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 1048.96097
+Camera.fy: 1049.63887
+Camera.cx: 924.39768
+Camera.cy: 548.0414
+
+Camera.k1: -0.292494
+Camera.k2: 0.076845
+Camera.p1: 0.000891
+Camera.p2: 0.001507
+
+Camera.width: 1920
+Camera.height: 1080
+
+# 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
+
+#--------------------------------------------------------------------------------------------
+# 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
+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: -1.8
+Viewer.ViewpointF: 500
+