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- %YAML:1.0
- #--------------------------------------------------------------------------------------------
- # Camera Parameters. Adjust them!
- #--------------------------------------------------------------------------------------------
- Camera.type: "KannalaBrandt8"
- # Camera calibration and distortion parameters (OpenCV)
- Camera.fx: 190.978477 # 190.97847715128717
- Camera.fy: 190.973307 # 190.9733070521226
- Camera.cx: 254.931706 # 254.93170605935475
- Camera.cy: 256.897442 # 256.8974428996504
- # Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
- #Camera.bFishEye: 1
- Camera.k1: 0.003482389402 # 0.0034823894022493434
- Camera.k2: 0.000715034845 # 0.0007150348452162257
- Camera.k3: -0.002053236141 # -0.0020532361418706202
- Camera.k4: 0.000202936736 # 0.00020293673591811182
-
- # 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
- # Transformation from body-frame (imu) to 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]
- # Tbc: !!opencv-matrix # from vins mono calibration file
- # rows: 4
- # cols: 4
- # dt: f
- # data: [-0.9995250378696743, 0.0075842033363785165, -0.030214670573904204, 0.044511917113940799,
- # 0.029940114644659861, -0.034023430206013172, -0.99897246995704592, -0.073197096234105752,
- # -0.0086044170750674241, -0.99939225835343004, 0.033779845322755464, -0.047972907300764499,
- # 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: 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
- 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 # -1.8
- Viewer.ViewpointF: 500
|
