big update to mono cland

.externalToolBuilders/New_Builder.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
+<stringAttribute key="org.eclipse.debug.core.ATTR_REFRESH_SCOPE" value="${workspace}"/>
+<booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/ORB_SLAM2/build.sh}"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_RUN_BUILD_KINDS" value="full,incremental,"/>
+<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/ORB_SLAM2}"/>
+</launchConfiguration>

Examples/Monocular/CLAND1.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 1004.73727941
+Camera.fy: 1006.86152527
+Camera.cx: 475.05677526
+Camera.cy: 408.82268564
+
+Camera.k1: -0.08292673
+Camera.k2: 0.13420465
+Camera.p1: 0.00111165
+Camera.p2: -0.00952094
+
+# Camera frames per second 
+Camera.fps: 5.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 3000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+