84 lines
2.4 KiB
YAML
84 lines
2.4 KiB
YAML
|
%YAML:1.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Camera Parameters. Adjust them!
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
File.version: "1.0"
|
||
|
|
|
||
|
|
Camera.type: "PinHole"
|
||
|
|
|
||
|
|
# Right Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera1.fx: 382.613
|
||
|
|
Camera1.fy: 382.613
|
||
|
|
Camera1.cx: 320.183
|
||
|
|
Camera1.cy: 236.455
|
||
|
|
|
||
|
|
# distortion parameters
|
||
|
|
Camera1.k1: 0.0
|
||
|
|
Camera1.k2: 0.0
|
||
|
|
Camera1.p1: 0.0
|
||
|
|
Camera1.p2: 0.0
|
||
|
|
|
||
|
|
# Camera resolution
|
||
|
|
Camera.width: 640
|
||
|
|
Camera.height: 480
|
||
|
|
|
||
|
|
# Camera frames per second
|
||
|
|
Camera.fps: 30
|
||
|
|
|
||
|
|
# 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 left camera
|
||
|
|
IMU.T_b_c1: !!opencv-matrix
|
||
|
|
rows: 4
|
||
|
|
cols: 4
|
||
|
|
dt: f
|
||
|
|
data: [1,0,0,-0.005,
|
||
|
|
0,1,0,-0.005,
|
||
|
|
0,0,1,0.0117,
|
||
|
|
0.0, 0.0, 0.0, 1.0]
|
||
|
|
|
||
|
|
# Do not insert KFs when recently lost
|
||
|
|
IMU.InsertKFsWhenLost: 0
|
||
|
|
|
||
|
|
# IMU noise (Use those from VINS-mono)
|
||
|
|
IMU.NoiseGyro: 1e-3 # 2.44e-4 #1e-3 # rad/s^0.5
|
||
|
|
IMU.NoiseAcc: 1e-2 # 1.47e-3 #1e-2 # m/s^1.5
|
||
|
|
IMU.GyroWalk: 1e-6 # rad/s^1.5
|
||
|
|
IMU.AccWalk: 1e-4 # m/s^2.5
|
||
|
|
IMU.Frequency: 200.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Extractor: Number of features per image
|
||
|
|
ORBextractor.nFeatures: 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
|