trans_rect_config.yaml

%YAML:1.0
---
# [pls dont change] The log level 
LogLevel: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 1. ]
# [pls dont change] The threshold is applied to detecd point cloud
Threshold: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 190. ]
#[pls dont change] it's a switch for a algorithm in the process of computing stereo disparity 
Algorithm: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [1. ]
#UDP address for image transfer   192.168.123.IpLastSegment
IpLastSegment: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 15. ]
#DeviceNode
DeviceNode: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 0. ]
#fov (perspective 60~140) 
hFov: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 90. ]
#image size ([1856,800] or [928,400])
FrameSize: !!opencv-matrix
   rows: 1
   cols: 2
   dt: d
   data: [ 1856., 800. ]
#rectified frame size
RectifyFrameSize: !!opencv-matrix
   rows: 1
   cols: 2
   dt: d
   data: [ 928., 800. ]
#FrameRate, it gives the limitation for transmission rate(FPS)
FrameRate: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 3e+01 ]
#0 ori img - right  1 ori img - stereo  2 rect img - right  3 rect img - stereo   -1 不传图
Transmode: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 0. ] 
#Transmission rate(FPS) in the UDP transmitting process. <= FrameRate
Transrate: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 3e+01 ] 
# [pls dont change]  It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”;  2 represnets "Perspective distortion correction".
Depthmode: !!opencv-matrix
   rows: 1
   cols: 1
   dt: d
   data: [ 1. ] 
 # empty reserved IO
Reserved: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d