Commit 0a23fe2d authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update camera yaml

parent 536653f9
......@@ -19,15 +19,15 @@ distortion_T1: 0.0
distortion_T2: 0.0
### wideangle camera
lens_type: custom
lens_type: custom # gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom
# when lens_type is custom
## manually defined mapping function r = c1*f*fun(theta/c2 + c3)
## More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
lens_custom_function_c1: 1.05 #linear scaling
lens_custom_function_c2: 4 #angle scaling
lens_custom_function_c1: 2.0 #linear scaling
lens_custom_function_c2: 2.0 #angle scaling
lens_custom_function_f: 1.0 #scaling parameter
lens_custom_function_fun: tan #sin,tan,id
lens_scale_to_hfov: true #if it is set to `true` your horizontal FOV will ramain as defined, othervise it depends on lens type and custom function, if there is one
lens_cutoff_angle: 3.1415 # clip everything that is outside of this angle
lens_env_texture_size: 512 # resolution of the cubemap texture, the highter it is - the sharper is your image
lens_scale_to_hfov: true #if it is set to `true` your horizontal FOV will remain as defined, othervise it depends on lens type and custom function, if there is one
lens_cutoff_angle: 3.14159 # clip everything that is outside of this angle
lens_env_texture_size: 1024 # resolution of the cubemap texture, the highter it is, the sharper is your image
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