152 lines
5.1 KiB
YAML
152 lines
5.1 KiB
YAML
%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Session config
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#--------------------------------------------------------------------------------------------
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# When the variables are commented, the system doesn't load a previous session or not store the current one
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# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
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System.LoadAtlasFromFile: "V201_stereo_inertial.osa"
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# The store file is created from the current session, if a file with the same name exists it is deleted
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System.SaveAtlasToFile: "V201_to_V202_stereo_inertial.osa"
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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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# Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
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Camera.fx: 435.2046959714599
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Camera.fy: 435.2046959714599
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Camera.cx: 367.4517211914062
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Camera.cy: 252.2008514404297
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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.width: 752
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 20.0
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# stereo baseline times fx
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Camera.bf: 47.90639384423901
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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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ThDepth: 35.0 # 35
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# Transformation from camera 0 to body-frame (imu)
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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: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
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0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
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-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
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0.0, 0.0, 0.0, 1.0]
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# IMU noise
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IMU.NoiseGyro: 1.7e-04 # 1.6968e-04
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IMU.NoiseAcc: 2.0e-03 # 2.0000e-3
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IMU.GyroWalk: 1.9393e-05
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IMU.AccWalk: 3.e-03 # 3.0000e-3
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IMU.Frequency: 200
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#--------------------------------------------------------------------------------------------
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# Stereo Rectification. Only if you need to pre-rectify the images.
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# Camera.fx, .fy, etc must be the same as in LEFT.P
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#--------------------------------------------------------------------------------------------
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LEFT.height: 480
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LEFT.width: 752
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LEFT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data:[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
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LEFT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
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LEFT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
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LEFT.Rf: !!opencv-matrix
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rows: 3
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cols: 3
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dt: f
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data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
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LEFT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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data: [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
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RIGHT.height: 480
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RIGHT.width: 752
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RIGHT.D: !!opencv-matrix
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rows: 1
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cols: 5
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dt: d
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data:[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
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RIGHT.K: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
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RIGHT.R: !!opencv-matrix
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rows: 3
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cols: 3
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dt: d
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data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
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RIGHT.P: !!opencv-matrix
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rows: 3
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cols: 4
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dt: d
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data: [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
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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: 1200
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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: -1.8
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Viewer.ViewpointF: 500
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