Upload files to 'Examples/Stereo-Inertial'

Examples/Stereo-Inertial/uzh-fpv.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+Camera1.fx: 278.66723066149086
+Camera1.fy: 278.48991409740296
+Camera1.cx: 319.75221200593535
+Camera1.cy: 241.96858910358173
+
+Camera1.k1: -0.013721808247486035
+Camera1.k2: 0.020727425669427896
+Camera1.p1: -0.012786476702685545
+Camera1.p2: 0.0025242267320687625
+
+Camera2.fx: 277.61640629770613
+Camera2.fy: 277.63749695723294
+Camera2.cx: 314.8944703346039
+Camera2.cy: 236.04310050462587
+
+Camera2.k1: -0.008456929295619607
+Camera2.k2: 0.011407590938612062
+Camera2.p1: -0.006951788325762078
+Camera2.p2: 0.0015368127092821786
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+Stereo.ThDepth: 60.0
+Stereo.T_c1_c2: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [ 9.99805302e-01,   -1.11477581e-02,   -1.62814662e-02,   7.96159451e-02,
+            1.11977385e-02,   9.99932857e-01,   2.98183487e-03,   1.45903657e-04,
+            1.62471322e-02, -3.16356991e-03,   9.99863002e-01,   8.53393252e-04,
+            0, 0, 0, 1.000000000000000]
+
+
+#IMU.T_b_c1: !!opencv-matrix
+#  rows: 4
+#  cols: 4
+#  dt: f
+#  data: [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517,
+#         0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05,
+#         0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853,
+#         0.0, 0.0, 0.0, 1.0]
+
+# Transformation from camera 0 to body-frame (imu)               
+IMU.T_b_c1: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [-2.82287874e-02, 1.44012519e-02, 9.99497744e-01, 1.10212057e-03,
+         -9.99601488e-01, -4.18870833e-04, -2.82256821e-02, 2.17014187e-02,
+         1.21752948e-05, -9.99896209e-01, 1.44073370e-02, -5.92788823e-05,
+         0.0, 0.0, 0.0, 1.0]
+
+# IMU noise
+IMU.NoiseGyro: 0.05 
+IMU.NoiseAcc: 0.1 
+IMU.GyroWalk: 4.0e-05
+IMU.AccWalk: 0.002
+IMU.Frequency: 500.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1250 # Tested with 1250
+
+# 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: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0
+
+#--------------------------------------------------------------------------------------------
+# Atlas Parameters
+#--------------------------------------------------------------------------------------------
+#System.LoadAtlasFromFile: "ComplexUrban32"
+#System.SaveAtlasToFile: ""