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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- Camera.type: "KannalaBrandt8"
- # Left Camera calibration and distortion parameters (OpenCV)
- Camera.fx: 190.97847715128717
- Camera.fy: 190.9733070521226
- Camera.cx: 254.93170605935475
- Camera.cy: 256.8974428996504
- # Kannala-Brandt distortion parameters
- Camera.k1: 0.0034823894022493434
- Camera.k2: 0.0007150348452162257
- Camera.k3: -0.0020532361418706202
- Camera.k4: 0.00020293673591811182
- # Right Camera calibration and distortion parameters (OpenCV)
- Camera2.fx: 190.44236969414825
- Camera2.fy: 190.4344384721956
- Camera2.cx: 252.59949716835982
- Camera2.cy: 254.91723064636983
- # Kannala-Brandt distortion parameters
- Camera2.k1: 0.0034003170790442797
- Camera2.k2: 0.001766278153469831
- Camera2.k3: -0.00266312569781606
- Camera2.k4: 0.0003299517423931039
-
- # Transformation matrix from right camera to left camera
- Tlr: !!opencv-matrix
- rows: 3
- cols: 4
- dt: f
- data: [ 0.999999445773493, 0.000791687752817, 0.000694034010224, 0.101063427414194,
- -0.000823363992158, 0.998899461915674, 0.046895490788700, 0.001946204678584,
- -0.000656143613644, -0.046896036240590, 0.998899560146304, 0.001015350132563]
- # Lapping area between images
- Camera.lappingBegin: 0
- Camera.lappingEnd: 511
- Camera2.lappingBegin: 0
- Camera2.lappingEnd: 511
- # Camera resolution
- Camera.width: 512
- Camera.height: 512
- # Camera frames per second
- Camera.fps: 20.0
- # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
- Camera.RGB: 1
- # Close/Far threshold. Baseline times.
- ThDepth: 40.0
- Camera.bf: 19.3079
- # Transformation from body-frame (imu) to left camera
- Tbc: !!opencv-matrix
- rows: 4
- cols: 4
- dt: f
- data: [-0.9995250378696743, 0.0075019185074052044, -0.02989013031643309, 0.045574835649698026,
- 0.029615343885863205, -0.03439736061393144, -0.998969345370175, -0.071161801837997044,
- -0.008522328211654736, -0.9993800792498829, 0.03415885127385616, -0.044681254117144367,
- 0.0, 0.0, 0.0, 1.0]
- # 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: 200
- thFarPoints: 20.0
- #--------------------------------------------------------------------------------------------
- # ORB Parameters
- #--------------------------------------------------------------------------------------------
- # ORB Extractor: Number of features per image
- ORBextractor.nFeatures: 1000 # 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 # 20
- ORBextractor.minThFAST: 7 # 7
- #--------------------------------------------------------------------------------------------
- # Viewer Parameters
- #--------------------------------------------------------------------------------------------
- Viewer.KeyFrameSize: 0.05
- Viewer.KeyFrameLineWidth: 1
- Viewer.GraphLineWidth: 0.9
- Viewer.PointSize: 2
- Viewer.CameraSize: 0.08
- Viewer.CameraLineWidth: 3
- Viewer.ViewpointX: 0
- Viewer.ViewpointY: -0.7
- Viewer.ViewpointZ: -3.5
- Viewer.ViewpointF: 500
|
