Fix parameter name min_num_triangulated_pts (stella-cv#507)

xu-no1 · Jun 4, 2023 · b3d73ca · b3d73ca
1 parent 931e8c7
commit b3d73ca
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Showing 5 changed files with 72 additions and 16 deletions.
diff --git a/example/euroc/EuRoC_stereo.yaml b/example/euroc/EuRoC_stereo.yaml
@@ -94,7 +94,7 @@ LoopDetector:
   backend: "g2o"
 
 Initializer:
-  num_min_triangulated_pts: 100
+  min_num_triangulated_pts: 100
 
 System:
   map_format: "msgpack"

diff --git a/example/kitti/KITTI_stereo_00-02.yaml b/example/kitti/KITTI_stereo_00-02.yaml
@@ -59,7 +59,7 @@ Mapping:
 #========================#
 
 Initializer:
-  num_min_triangulated_pts: 100
+  min_num_triangulated_pts: 100
 
 #===========================#
 # PangolinViewer Parameters #

diff --git a/example/kitti/KITTI_stereo_03.yaml b/example/kitti/KITTI_stereo_03.yaml
@@ -59,7 +59,7 @@ Mapping:
 #========================#
 
 Initializer:
-  num_min_triangulated_pts: 100
+  min_num_triangulated_pts: 100
 
 #===========================#
 # PangolinViewer Parameters #

diff --git a/example/kitti/KITTI_stereo_04-12.yaml b/example/kitti/KITTI_stereo_04-12.yaml
@@ -59,7 +59,7 @@ Mapping:
 #========================#
 
 Initializer:
-  num_min_triangulated_pts: 100
+  min_num_triangulated_pts: 100
 
 #===========================#
 # PangolinViewer Parameters #

diff --git a/example/tum_vi/TUM_VI_stereo.yaml b/example/tum_vi/TUM_VI_stereo.yaml
@@ -11,24 +11,24 @@ Camera:
   setup: "stereo"
   model: "perspective"
 
-# new "rectified" matrices is the first three cols of the projection matrix which is calculated with cv::stereoRectify()
-# e.g. fx = P1[0][0] or P2[0][0], cx = P1[0][2] or P2[0][2]
-#      fy = P1[1][1] or P2[1][1], cy = P1[1][2] or P2[1][2]
+  # new "rectified" matrices is the first three cols of the projection matrix which is calculated with cv::stereoRectify()
+  # e.g. fx = P1[0][0] or P2[0][0], cx = P1[0][2] or P2[0][2]
+  #      fy = P1[1][1] or P2[1][1], cy = P1[1][2] or P2[1][2]
 
   fx: 61.75453410721205
   fy: 61.75453410721205
   cx: 240.22941720459062
   cy: 255.73235402091632
 
-# there is no distortion after stereo rectification
+  # there is no distortion after stereo rectification
 
   k1: 0.0
   k2: 0.0
   p1: 0.0
   p2: 0.0
   k3: 0.0
 
-# focal_x_baseline is -P2[0][3] which is calculated with cv::stereoRectify()
+  # focal_x_baseline is -P2[0][3] which is calculated with cv::stereoRectify()
 
   fps: 20
   cols: 512
@@ -47,12 +47,68 @@ Camera:
 
 StereoRectifier:
   model: "fisheye"
-  K_left: [190.97847715128717, 0.0, 254.93170605935475, 0.0, 190.9733070521226, 256.8974428996504, 0.0, 0.0, 1.0]
-  D_left: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182]
-  R_left: [0.9997641946925044, 0.01925271884177015, 0.010044293307535757, -0.01901185247371587, 0.9995418997803748, -0.02354867403818772, -0.010493068014919314, 0.02335216051329943, 0.99967223234568]
-  K_right: [190.44236969414825, 0.0, 252.59949716835982, 0.0, 190.4344384721956, 254.91723064636983, 0.0, 0.0, 1.0]
-  D_right: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039]
-  R_right: [0.9997411981023351, 0.01955199401713946, 0.011629976219300583, -0.019819377433695273, 0.9995311538731381, 0.02333805294307984, -0.011168218078479885, -0.023562511898925578, 0.9996599816627474]
+  K_left:
+    [
+      190.97847715128717,
+      0.0,
+      254.93170605935475,
+      0.0,
+      190.9733070521226,
+      256.8974428996504,
+      0.0,
+      0.0,
+      1.0,
+    ]
+  D_left:
+    [
+      0.0034823894022493434,
+      0.0007150348452162257,
+      -0.0020532361418706202,
+      0.00020293673591811182,
+    ]
+  R_left:
+    [
+      0.9997641946925044,
+      0.01925271884177015,
+      0.010044293307535757,
+      -0.01901185247371587,
+      0.9995418997803748,
+      -0.02354867403818772,
+      -0.010493068014919314,
+      0.02335216051329943,
+      0.99967223234568,
+    ]
+  K_right:
+    [
+      190.44236969414825,
+      0.0,
+      252.59949716835982,
+      0.0,
+      190.4344384721956,
+      254.91723064636983,
+      0.0,
+      0.0,
+      1.0,
+    ]
+  D_right:
+    [
+      0.0034003170790442797,
+      0.001766278153469831,
+      -0.00266312569781606,
+      0.0003299517423931039,
+    ]
+  R_right:
+    [
+      0.9997411981023351,
+      0.01955199401713946,
+      0.011629976219300583,
+      -0.019819377433695273,
+      0.9995311538731381,
+      0.02333805294307984,
+      -0.011168218078479885,
+      -0.023562511898925578,
+      0.9996599816627474,
+    ]
 
 #=====================#
 # Tracking Parameters #
@@ -85,4 +141,4 @@ Mapping:
 #========================#
 
 Initializer:
-  num_min_triangulated_pts: 100
+  min_num_triangulated_pts: 100