Added configs for SFU dataset

svo/CMakeLists.txt

@@ -2,7 +2,7 @@
 # user build settings
 
 SET(TRACE TRUE)
-SET(HAVE_G2O FALSE) 
+SET(HAVE_G2O TRUE) 
 SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin
 SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS
 

svo_ros/launch/svo_sfu.launch

@@ -0,0 +1,21 @@
+<launch>
+
+  <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
+
+    <!-- Camera topic to subscribe to -->
+    <param name="cam_topic" value="/camera/image_raw" type="str" />
+
+    <!-- Camera calibration file -->
+    <rosparam file="$(find svo_ros)/param/camera_sfu.yaml" />
+
+    <!-- Default parameter settings: choose between vo_fast and vo_accurate -->
+    <rosparam file="$(find svo_ros)/param/vo_accurate.yaml" />
+
+    <!-- Initial camera orientation, make it point downwards -->
+    <param name="init_rx" value="1.57" />
+    <param name="init_ry" value="0.00" />
+    <param name="init_rz" value="0.00" />
+
+  </node>
+
+</launch>

svo_ros/param/camera_sfu.yaml

@@ -0,0 +1,11 @@
+cam_model: Pinhole
+cam_width: 752
+cam_height: 480
+cam_fx: 370.013128
+cam_fy: 370.591069
+cam_cx: 376.019643
+cam_cy: 243.559521
+cam_d0: -0.266126
+cam_d1: 0.053003
+cam_d2: -0.001336
+cam_d3: 0.000365