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stereoslam.yaml
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# System config
#--------------------------------------------------------------------------------------------
# When the variables are commented, the system doesn't load a previous session or not store the current one
# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
# The store file is created from the current session, if a file with the same name exists it is deleted
#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 4.6807337906504705e+02
Camera1.fy: 4.6839208917665889e+02
Camera1.cx: 3.7550000000000000e+02
Camera1.cy: 2.3950000000000000e+02
Camera1.k1: -2.9524845787253928e-01
Camera1.k2: 9.2648642957326333e-02
Camera1.p1: 1.2565688190167318e-03
Camera1.p2: -1.0973687337527162e-03
Camera2.fx: 4.6636326604199257e+02
Camera2.fy: 4.6699371965562676e+02
Camera2.cx: 3.7550000000000000e+02
Camera2.cy: 2.3950000000000000e+02
Camera2.k1: -2.8763064854513060e-01
Camera2.k2: 8.1704984967895730e-02
Camera2.p1: 1.7390765679253985e-03
Camera2.p2: -5.8866979035167430e-04
Camera.width: 752
Camera.height: 480
# Camera frames per second
Camera.fps: 20
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
Stereo.ThDepth: 60.0
Stereo.T_c1_c2: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [0.999577, -0.00514625 , -0.0286285 , 0.110106,
0.00428911 , 0.999543 , -0.0299215 , 0.000647657,
0.0287694 , 0.029786 , 0.999142 , 0.00280352,
-0 , 0 , -0 , 1]
# Stereo.Q: !!opencv-matrix
# rows: 4
# cols: 4
# dt: d
# data: [ 1., 0., 0., -3.6260924530029297e+02, 0., 1., 0.,
# -2.4206370544433594e+02, 0., 0., 0., 4.4841098307832260e+02, 0.,
# 0., 9.0790203806858406e-03, 0. ]
Stereo.Q: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1., 0., 0., -3.6260931396484375e+02, 0., 1., 0.,
-2.4206370544433594e+02, 0., 0., 0., 4.4841096490536830e+02, 0.,
0., 9.0790200726886710e+00, 0. ]
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1200
# 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: 7
# 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: 1.0
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2.0
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500.0
Viewer.imageViewScale: 1.0
#--------------------------------------------------------------------------------------------
# PointCloudMapping Parameters
#--------------------------------------------------------------------------------------------
PointCloudMapping.Resolution: 0.1 # voxel filter
PointCloudMapping.MeanK: 20.0 # outlier filter
PointCloudMapping.StdThresh: 0.5 # outlier filter
PointCloudMapping.Unit: 1.0 # mm(1000) or m(1)
PointCloudMapping.mindisp: 1.0
PointCloudMapping.maxdisp: 128.0