From 43b1cc37444c8521e521497d9e67ac94fb2eb5b4 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Sat, 23 Apr 2022 12:36:20 +0200
Subject: [PATCH] Add using_raw to demo yaml
---
demos/camera_euroc_mav0.yaml | 24 ------------------------
demos/camera_euroc_mav0_notang.yaml | 26 ++++++++++++++++++++++++++
demos/demo_visual_odometry.yaml | 3 ++-
3 files changed, 28 insertions(+), 25 deletions(-)
delete mode 100644 demos/camera_euroc_mav0.yaml
create mode 100644 demos/camera_euroc_mav0_notang.yaml
diff --git a/demos/camera_euroc_mav0.yaml b/demos/camera_euroc_mav0.yaml
deleted file mode 100644
index c689897c3..000000000
--- a/demos/camera_euroc_mav0.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-width: 752
-height: 480
-camera_name: narrow_stereo
-camera_matrix:
- rows: 3
- cols: 3
- data: [458, 0.000000, 367.215,
- 0.000000, 457.296, 248.375,
- 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.28340811, 0.07395907, 0.000000, 0.000000, 0.000000]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [458, 0.000000, 367.215, 0.000000,
- 0.000000, 457.296, 248.375, 0.000000,
- 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_euroc_mav0_notang.yaml b/demos/camera_euroc_mav0_notang.yaml
new file mode 100644
index 000000000..ace83297f
--- /dev/null
+++ b/demos/camera_euroc_mav0_notang.yaml
@@ -0,0 +1,26 @@
+width: 752
+height: 480
+camera_name: narrow_stereo
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [458, 0.000000, 367.215,
+ 0.000000, 457.296, 248.375,
+ 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.28340811, 0.07395907, 0.00019359, 0.0, 0.000000]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1.000000, 0.000000, 0.000000,
+ 0.000000, 1.000000, 0.000000,
+ 0.000000, 0.000000, 1.000000]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [355.63, 0.000000, 362.27, 0.000000,
+ 0.000000, 417.16, 249.65, 0.000000,
+ 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/demo_visual_odometry.yaml b/demos/demo_visual_odometry.yaml
index 44fd5a69e..bfdc5d18b 100644
--- a/demos/demo_visual_odometry.yaml
+++ b/demos/demo_visual_odometry.yaml
@@ -38,7 +38,8 @@ config:
name: "sen cam"
extrinsic:
pose: [0,0,0, 0,0,0,1]
- follow: "demos/camera_euroc_mav0.yaml" # config parameters in this file
+ using_raw: true
+ follow: "demos/camera_euroc_mav0_notang.yaml" # config parameters in this file
processors:
--
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