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Monocular-Inertial
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RealSense_D435i.yaml

RealSense_D435i.yaml 2.4 KB
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  1. %YAML:1.0
    2. 

  2. 

  3. #--------------------------------------------------------------------------------------------
    4. 

  4. # Camera Parameters. Adjust them!
    5. 

  5. #--------------------------------------------------------------------------------------------
    6. 

  6. File.version: "1.0"
    7. 

  7. 

  8. Camera.type: "PinHole"
    9. 

  9. 

  10. # Right Camera calibration and distortion parameters (OpenCV)
    11. 

  11. Camera1.fx: 382.613
    12. 

  12. Camera1.fy: 382.613
    13. 

  13. Camera1.cx: 320.183
    14. 

  14. Camera1.cy: 236.455
    15. 

  15. 

  16. # distortion parameters
    17. 

  17. Camera1.k1: 0.0
    18. 

  18. Camera1.k2: 0.0
    19. 

  19. Camera1.p1: 0.0
    20. 

  20. Camera1.p2: 0.0
    21. 

  21. 

  22. # Camera resolution
    23. 

  23. Camera.width: 640
    24. 

  24. Camera.height: 480
    25. 

  25. 

  26. # Camera frames per second 
    27. 

  27. Camera.fps: 30
    28. 

  28. 

  29. # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
    30. 

  30. Camera.RGB: 1
    31. 

  31. 

  32. # Transformation from body-frame (imu) to left camera
    33. 

  33. IMU.T_b_c1: !!opencv-matrix
    34. 

  34.    rows: 4
    35. 

  35.    cols: 4
    36. 

  36.    dt: f
    37. 

  37.    data: [1,0,0,-0.005,
    38. 

  38.          0,1,0,-0.005,
    39. 

  39.          0,0,1,0.0117,
    40. 

  40.          0.0, 0.0, 0.0, 1.0]
    41. 

  41. 

  42. # Do not insert KFs when recently lost
    43. 

  43. IMU.InsertKFsWhenLost: 0
    44. 

  44. 

  45. # IMU noise (Use those from VINS-mono)
    46. 

  46. IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
    47. 

  47. IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
    48. 

  48. IMU.GyroWalk: 1e-6 # rad/s^1.5
    49. 

  49. IMU.AccWalk: 1e-4 # m/s^2.5
    50. 

  50. IMU.Frequency: 200.0
    51. 

  51. 

  52. #--------------------------------------------------------------------------------------------
    53. 

  53. # ORB Parameters
    54. 

  54. #--------------------------------------------------------------------------------------------
    55. 

  55. # ORB Extractor: Number of features per image
    56. 

  56. ORBextractor.nFeatures: 1250
    57. 

  57. 

  58. # ORB Extractor: Scale factor between levels in the scale pyramid 	
    59. 

  59. ORBextractor.scaleFactor: 1.2
    60. 

  60. 

  61. # ORB Extractor: Number of levels in the scale pyramid	
    62. 

  62. ORBextractor.nLevels: 8
    63. 

  63. 

  64. # ORB Extractor: Fast threshold
    65. 

  65. # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
    66. 

  66. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
    67. 

  67. # You can lower these values if your images have low contrast			
    68. 

  68. ORBextractor.iniThFAST: 20
    69. 

  69. ORBextractor.minThFAST: 7
    70. 

  70. 

  71. #--------------------------------------------------------------------------------------------
    72. 

  72. # Viewer Parameters
    73. 

  73. #--------------------------------------------------------------------------------------------
    74. 

  74. Viewer.KeyFrameSize: 0.05
    75. 

  75. Viewer.KeyFrameLineWidth: 1.0
    76. 

  76. Viewer.GraphLineWidth: 0.9
    77. 

  77. Viewer.PointSize: 2.0
    78. 

  78. Viewer.CameraSize: 0.08
    79. 

  79. Viewer.CameraLineWidth: 3.0
    80. 

  80. Viewer.ViewpointX: 0.0
    81. 

  81. Viewer.ViewpointY: -0.7
    82. 

  82. Viewer.ViewpointZ: -3.5
    83. 

  83. Viewer.ViewpointF: 500.0
    84.