94 lines
3.3 KiB
YAML
Executable File
94 lines
3.3 KiB
YAML
Executable File
%YAML:1.0
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# Camera Parameters. Adjust them!
|
|
#--------------------------------------------------------------------------------------------
|
|
#File.version: "1.0"
|
|
|
|
Camera.type: "KannalaBrandt8"
|
|
|
|
# Camera calibration and distortion parameters (OpenCV)
|
|
Camera1.fx: 816.9037
|
|
Camera1.fy: 811.5680
|
|
Camera1.cx: 608.5072
|
|
Camera1.cy: 263.4759
|
|
|
|
Camera.fx: 816.9037
|
|
Camera.fy: 811.5680
|
|
Camera.cx: 608.5072
|
|
Camera.cy: 263.4759
|
|
|
|
# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
|
|
#Camera.bFishEye: 1
|
|
Camera.k1: -0.0561430278
|
|
Camera.k2: 0.139525632
|
|
Camera.k3: 0.0012155906
|
|
Camera.k4: -0.0009728138
|
|
|
|
# Camera resolution
|
|
Camera.width: 1280
|
|
Camera.height: 560
|
|
|
|
# Camera frames per second
|
|
Camera.fps: 20
|
|
|
|
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
|
|
Camera.RGB: 1
|
|
|
|
Tbc: !!opencv-matrix
|
|
rows: 4
|
|
cols: 4
|
|
dt: f
|
|
data: [-0.0000000006805052125, -0.999999999976638075, -0.000000000230382531, 0.259021424000,
|
|
-0.00000000015321616298, 0.000000000334626986, -0.999999999882124089, -0.089722543900,
|
|
0.999999999868921883, -0.0000000006800724144, -0.00000000015323560249, -1.712258880000,
|
|
0.000000000000, 0.000000000000, 0.000000000000, 1.000000000000]
|
|
|
|
# IMU noise (Use those from VINS-mono)
|
|
IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016 # rad/s^0.5
|
|
IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028 # m/s^1.5
|
|
IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5
|
|
IMU.AccWalk: 0.00086 # 0.0004 (VINS) # 0.00086 # 0.00086 # m/s^2.5
|
|
IMU.Frequency: 100
|
|
#System.thFarPoints: 20.0
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# 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: "ComplexUrban32"
|