116 lines
3.7 KiB
YAML
116 lines
3.7 KiB
YAML
%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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File.version: "1.0"
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Camera.type: "PinHole"
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Camera1.fx: 278.66723066149086
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Camera1.fy: 278.48991409740296
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Camera1.cx: 319.75221200593535
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Camera1.cy: 241.96858910358173
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Camera1.k1: -0.013721808247486035
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Camera1.k2: 0.020727425669427896
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Camera1.p1: -0.012786476702685545
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Camera1.p2: 0.0025242267320687625
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Camera2.fx: 277.61640629770613
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Camera2.fy: 277.63749695723294
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Camera2.cx: 314.8944703346039
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Camera2.cy: 236.04310050462587
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Camera2.k1: -0.008456929295619607
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Camera2.k2: 0.011407590938612062
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Camera2.p1: -0.006951788325762078
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Camera2.p2: 0.0015368127092821786
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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Stereo.ThDepth: 60.0
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Stereo.T_c1_c2: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [ 9.99805302e-01, -1.11477581e-02, -1.62814662e-02, 7.96159451e-02,
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1.11977385e-02, 9.99932857e-01, 2.98183487e-03, 1.45903657e-04,
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1.62471322e-02, -3.16356991e-03, 9.99863002e-01, 8.53393252e-04,
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0, 0, 0, 1.000000000000000]
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#IMU.T_b_c1: !!opencv-matrix
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# rows: 4
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# cols: 4
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# dt: f
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# data: [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517,
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# 0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05,
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# 0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853,
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# 0.0, 0.0, 0.0, 1.0]
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# Transformation from camera 0 to body-frame (imu)
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IMU.T_b_c1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [-2.82287874e-02, 1.44012519e-02, 9.99497744e-01, 1.10212057e-03,
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-9.99601488e-01, -4.18870833e-04, -2.82256821e-02, 2.17014187e-02,
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1.21752948e-05, -9.99896209e-01, 1.44073370e-02, -5.92788823e-05,
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0.0, 0.0, 0.0, 1.0]
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# IMU noise
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IMU.NoiseGyro: 0.05
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IMU.NoiseAcc: 0.1
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IMU.GyroWalk: 4.0e-05
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IMU.AccWalk: 0.002
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IMU.Frequency: 500.0
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1250 # Tested with 1250
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1.0
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize: 2.0
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3.0
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Viewer.ViewpointX: 0.0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -3.5
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Viewer.ViewpointF: 500.0
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#--------------------------------------------------------------------------------------------
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# Atlas Parameters
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#--------------------------------------------------------------------------------------------
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#System.LoadAtlasFromFile: "ComplexUrban32"
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#System.SaveAtlasToFile: ""
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