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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Session config
- #--------------------------------------------------------------------------------------------
- # When the variables are commented, the system doesn't load a previous session or not store the current one
- # If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
- System.LoadAtlasFromFile: "MH01_to_MH02_mono_inertial.osa"
- # The store file is created from the current session, if a file with the same name exists it is deleted
- System.SaveAtlasToFile: "MH01_to_MH03_mono_inertial.osa"
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- Camera.type: "PinHole"
- # Camera calibration and distortion parameters (OpenCV)
- Camera.fx: 458.654
- Camera.fy: 457.296
- Camera.cx: 367.215
- Camera.cy: 248.375
- Camera.k1: -0.28340811
- Camera.k2: 0.07395907
- Camera.p1: 0.00019359
- Camera.p2: 1.76187114e-05
- # Camera resolution
- Camera.width: 752
- Camera.height: 480
- # 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
- # Transformation from camera to body-frame (imu)
- Tbc: !!opencv-matrix
- rows: 4
- cols: 4
- dt: f
- data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
- 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
- -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
- 0.0, 0.0, 0.0, 1.0]
- # IMU noise
- IMU.NoiseGyro: 1.7e-4 #1.6968e-04
- IMU.NoiseAcc: 2.0000e-3 #2.0e-3
- IMU.GyroWalk: 1.9393e-05
- IMU.AccWalk: 3.0000e-03 # 3e-03
- IMU.Frequency: 200
- #--------------------------------------------------------------------------------------------
- # ORB Parameters
- #--------------------------------------------------------------------------------------------
- # ORB Extractor: Number of features per image
- ORBextractor.nFeatures: 1000 # 1000
- # 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
- 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 # -1.8
- Viewer.ViewpointF: 500
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