default.yaml

%YAML:1.0
# data
# the tum dataset directory, change it to yours! 
pic_dir: /home/xxz/data
# camera intrinsics
# fr1
blockSize: 12
#disparity: -18

#sobelLimit: 860
sobelLimit: 1500
#sadThreshold: 54 #openmp
sadThreshold: 54
check_horizontal_invariance: false
horizontalInvarianceMultiplier: 1

# fr2
#camera.fx: 520.9
#camera.fy: 521.0
#camera.cx: 325.1
#camera.cy: 249.7
#matQ[0][3]: -599.4130706787109
#matQ[1][3]: -356.5859909057617
#matQ[2][3]: 726.7854265077029
#matQ[3][2]: -0.008382265446029592
#K: [668.6300659179688, 0.0, 615.2971801757812, 0.0, 668.6300659179688, 355.84478759765625, 0.0, 0.0, 1.0]
#zed 1280*720
disparity: -15
zero_disparity: -7
matQ[0][3]: -615.2971801757812
matQ[1][3]: -355.84478759765625
matQ[2][3]: 668.6300659179688
matQ[3][2]: -0.008382265446029592
#1280*720
# disparity: -30
# zero_disparity: -15
# matQ[0][3]: -640.4130706787109
# matQ[1][3]: -356.5859909057617
# matQ[2][3]: 640.7854265077029
# matQ[3][2]: -0.004
#720*480 11fps 加上深度图 不加30fps
#5.3m推扫平面
# disparity: -12
# zero_disparity: -6
# matQ[0][3]: -320.4130706787109
# matQ[1][3]: -240.5859909057617
# matQ[2][3]: 320.7854265077029
# matQ[3][2]: -0.005
# VO Parameters
#OCTREE_RESOLUTION: 128.0f

INVARIANCE_CHECK_VERT_OFFSET_MIN: -2
INVARIANCE_CHECK_VERT_OFFSET_MAX: 2
INVARIANCE_CHECK_VERT_OFFSET_INCREMENT: 2
INVARIANCE_CHECK_HORZ_OFFSET_MIN: -3
INVARIANCE_CHECK_HORZ_OFFSET_MAX: 3