| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384 |
- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- File.version: "1.0"
- Camera.type: "KannalaBrandt8"
- # Camera calibration and distortion parameters (OpenCV)
- Camera1.fx: 190.978477
- Camera1.fy: 190.973307
- Camera1.cx: 254.931706
- Camera1.cy: 256.897442
- # Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
- #Camera.bFishEye: 1
- Camera1.k1: 0.003482389402
- Camera1.k2: 0.000715034845
- Camera1.k3: -0.002053236141
- Camera1.k4: 0.000202936736
-
- # Camera resolution
- Camera.width: 512
- Camera.height: 512
- # 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
- # Transformation from body-frame (imu) to camera
- IMU.T_b_c1: !!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
- 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
|
