12345qiupeng
/
orb_slam3_details
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat:添加相机参数

master
邱棚 2024-07-04 15:33:09 +08:00
parent f1a3129ce0
commit 0c3c948156
3 changed files with 125 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
CMakeLists.txt
View File

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

61
Examples/ROS/ORB_SLAM3/camera1280.yaml Normal file
View File

@ -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

61
Examples/ROS/ORB_SLAM3/camera1920.yaml Normal file
View File

@ -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