GAAS

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# camera topics
left_img_topic:  /gi/simulation/left/image_raw
right_img_topic:  /gi/simulation/right/image_raw

# Stereo calibration file name
calib_file_name: calibration/mynteye2.yml

# Calibration image width and height
calib_width: 752
calib_height: 480

# Rectified image width and height
out_width: 752
out_height: 480

# Set d=1 for cam to robot frame calibration
debug: 0

# display image?
displayImage: 0

# disparity maximum and minimum
disparityMax: 20
disparityMin: 2

# maximum point distance (z)
distanceMax: 10
distanceMin: 0.1

# max/min x and y
max_x: 650
min_x: 102
max_y: 480
min_y: 50

# disparity map generation method
method: 0 # 0 for StereoBM, 1 for StereoSGBM

# conduct stereoRectify?
conductStereoRectify: 0

# use WLS filter？
UseWLSfilter: 1
Lambda: 0
SigmaColor: 10

# common params for both methods:
MinDisparity: 7
NumDisparities: 32
PreFilterCap: 63
UniquenessRatio: 115
SpeckleWindowSize: 0

# for StereoBM (Block Matching) matcher params
RangeOfDisparity: 16 # dividable by 16
SizeOfBlockWindow: 7 # must be odd
PreFilterSize: 255
SmallerBlockSize: 7
TextureThreshold: 255

# for StereoSGBM (Semi-Global Block Matching) matcher params
P1: 700
P2: 2800
disp12MaxDiff: 10
speckleRange: 3
fullDP: 0

# useful param
UseRadiusOutlierRemoval: 1
Radius: 0.05 # meter
MinNeighbor: 30

# use PCL filtering? be carefull with this option!
UsePCLfiltering: 0
UseStatisticalOutlierRemoval: 0
mean_k: 50
stdThres: 1

# not implemented yet
UseConditionalRemoval: 0
Min: 0.0
Max: 3.0