120 lines
4.1 KiB
YAML
120 lines
4.1 KiB
YAML
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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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File.version: "1.0"
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Camera.type: "KannalaBrandt8"
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# Left Camera calibration and distortion parameters (OpenCV)
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Camera1.fx: 190.97847715128717
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Camera1.fy: 190.9733070521226
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Camera1.cx: 254.93170605935475
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Camera1.cy: 256.8974428996504
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# Kannala-Brandt distortion parameters
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Camera1.k1: 0.0034823894022493434
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Camera1.k2: 0.0007150348452162257
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Camera1.k3: -0.0020532361418706202
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Camera1.k4: 0.00020293673591811182
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# Right Camera calibration and distortion parameters (OpenCV)
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Camera2.fx: 190.44236969414825
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Camera2.fy: 190.4344384721956
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Camera2.cx: 252.59949716835982
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Camera2.cy: 254.91723064636983
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# Kannala-Brandt distortion parameters
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Camera2.k1: 0.0034003170790442797
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Camera2.k2: 0.001766278153469831
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Camera2.k3: -0.00266312569781606
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Camera2.k4: 0.0003299517423931039
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# Transformation matrix from right camera to left camera
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Stereo.T_c1_c2: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [ 0.999999445773493, 0.000791687752817, 0.000694034010224, 0.101063427414194,
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-0.000823363992158, 0.998899461915674, 0.046895490788700, 0.001946204678584,
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-0.000656143613644, -0.046896036240590, 0.998899560146304, 0.001015350132563,
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0.0,0.0,0.0,1.0]
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# Lapping area between images
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Camera1.overlappingBegin: 0
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Camera1.overlappingEnd: 511
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Camera2.overlappingBegin: 0
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Camera2.overlappingEnd: 511
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# Camera resolution
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Camera.width: 512
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Camera.height: 512
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# Camera frames per second
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Camera.fps: 20
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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Stereo.ThDepth: 40.0
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#--------------------------------------------------------------------------------------------
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# IMU Parameters
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#--------------------------------------------------------------------------------------------
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# Transformation from body-frame (imu) to left camera
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IMU.T_b_c1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [-0.9995250378696743, 0.0075019185074052044, -0.02989013031643309, 0.045574835649698026,
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0.029615343885863205, -0.03439736061393144, -0.998969345370175, -0.071161801837997044,
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-0.008522328211654736, -0.9993800792498829, 0.03415885127385616, -0.044681254117144367,
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0.0, 0.0, 0.0, 1.0]
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# IMU noise (Use those from VINS-mono)
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IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016 # rad/s^0.5
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IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028 # m/s^1.5
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IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5
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IMU.AccWalk: 0.00086 # 0.0004 (VINS) # 0.00086 # 0.00086 # m/s^2.5
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IMU.Frequency: 200.0
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System.thFarPoints: 20.0 # In TUM outdoors, we ignore points too far away
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1000 # Tested with 1250
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1.0
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize: 2.0
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3.0
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Viewer.ViewpointX: 0.0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -3.5
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Viewer.ViewpointF: 500.0
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