update

Simpler keyframe insertion policy regarding stereo points.\n Added EuRoC mono and stereo examples. \n Some bug fixes.

CMakeLists.txt

@@ -85,6 +85,11 @@ add_executable(stereo_kitti
 Examples/Stereo/stereo_kitti.cc)
 target_link_libraries(stereo_kitti ${PROJECT_NAME})
 
+add_executable(stereo_euroc
+Examples/Stereo/stereo_euroc.cc)
+target_link_libraries(stereo_euroc ${PROJECT_NAME})
+
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
 
 add_executable(mono_tum
@@ -95,3 +100,7 @@ add_executable(mono_kitti
 Examples/Monocular/mono_kitti.cc)
 target_link_libraries(mono_kitti ${PROJECT_NAME})
 
+add_executable(mono_euroc
+Examples/Monocular/mono_euroc.cc)
+target_link_libraries(mono_euroc ${PROJECT_NAME})
+

Examples/Monocular/EuRoC.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 458.654
+Camera.fy: 457.296
+Camera.cx: 367.215
+Camera.cy: 248.375
+
+Camera.k1: -0.28340811
+Camera.k2: 0.07395907
+Camera.p1: 0.00019359
+Camera.p2: 1.76187114e-05
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# 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
+