86 lines
2.7 KiB
YAML
86 lines
2.7 KiB
YAML
%YAML:1.0
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# Camera Parameters. Adjust them!
|
|
#--------------------------------------------------------------------------------------------
|
|
File.version: "1.0"
|
|
|
|
Camera.type: "KannalaBrandt8"
|
|
|
|
# Left Camera calibration and distortion parameters (OpenCV)
|
|
Camera1.fx: 284.9501953125
|
|
Camera1.fy: 285.115295410156
|
|
Camera1.cx: 420.500213623047
|
|
Camera1.cy: 400.738098144531
|
|
|
|
# Kannala-Brandt distortion parameters
|
|
Camera1.k1: -0.00530046410858631
|
|
Camera1.k2: 0.0423333682119846
|
|
Camera1.k3: -0.03949885815382
|
|
Camera1.k4: 0.00682387687265873
|
|
|
|
# Camera resolution
|
|
Camera.width: 848
|
|
Camera.height: 800
|
|
|
|
# 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: [-0.999959, -0.00265193, 0.00870996, 0.0107000041753054,
|
|
0.00262197, -0.999991, -0.0034493, -1.45519152283669e-11,
|
|
0.00871902, -0.00342632, 0.999956, -1.45519152283669e-11,
|
|
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: 0.000005148030141 # rad/s^0.5
|
|
IMU.NoiseAcc: 0.000066952452471 # m/s^1.5
|
|
IMU.GyroWalk: 0.000000499999999 # rad/s^1.5
|
|
IMU.AccWalk: 0.000099999997474 # m/s^2.5
|
|
IMU.Frequency: 200.0
|
|
|
|
#--------------------------------------------------------------------------------------------
|
|
# ORB Parameters
|
|
#--------------------------------------------------------------------------------------------
|
|
|
|
# ORB Extractor: Number of features per image
|
|
ORBextractor.nFeatures: 800 # 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
|
|
Viewer.imageViewScale: 2.0
|