96 lines
2.7 KiB
YAML
96 lines
2.7 KiB
YAML
%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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Camera.type: "PinHole"
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# Right Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 617.201
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Camera.fy: 617.362
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Camera.cx: 324.637
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Camera.cy: 242.462
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# distortion parameters
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Camera.k1: 0.0
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Camera.k2: 0.0
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Camera.p1: 0.0
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Camera.p2: 0.0
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# Camera resolution
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30.0
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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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# Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
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Camera.imageScale: 0.5 # 0.5 #0.7071 # 1/sqrt(2)
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# Close/Far threshold. Baseline times.
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ThDepth: 40.0
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# stereo baseline times fx
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Camera.bf: 46.01
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# Deptmap values factor
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DepthMapFactor: 1000.0
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# Transformation from body-frame (imu) to left camera
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Tbc: !!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: [0.999903, -0.0138036, -0.00208099, -0.0202141,
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0.0137985, 0.999902, -0.00243498, 0.00505961,
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0.0021144, 0.00240603, 0.999995, 0.0114047,
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0.0, 0.0, 0.0, 1.0]
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# Do not insert KFs when recently lost
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InsertKFsWhenLost: 0
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# IMU noise (Use those from VINS-mono)
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IMU.NoiseGyro: 1e-2 # 3 # 2.44e-4 #1e-3 # rad/s^0.5
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IMU.NoiseAcc: 1e-1 #2 # 1.47e-3 #1e-2 # m/s^1.5
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IMU.GyroWalk: 1e-6 # rad/s^1.5
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IMU.AccWalk: 1e-4 # m/s^2.5
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IMU.Frequency: 200
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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: 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
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize: 2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -3.5
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Viewer.ViewpointF: 500
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