122 lines
3.8 KiB
YAML
122 lines
3.8 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: 284.9501953125
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Camera1.fy: 285.115295410156
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Camera1.cx: 420.500213623047
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Camera1.cy: 400.738098144531
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# Kannala-Brandt distortion parameters
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Camera1.k1: -0.00530046410858631
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Camera1.k2: 0.0423333682119846
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Camera1.k3: -0.03949885815382
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Camera1.k4: 0.00682387687265873
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# Right Camera calibration and distortion parameters (OpenCV)
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Camera2.fx: 285.001312255859
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Camera2.fy: 284.914215087891
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Camera2.cx: 411.864196777344
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Camera2.cy: 403.41259765625
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# Kannala-Brandt distortion parameters
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Camera2.k1: -0.00375203299336135
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Camera2.k2: 0.0379297286272049
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Camera2.k3: -0.0352463386952877
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Camera2.k4: 0.00548873096704
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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: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
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-0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
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-0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05,
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0.0, 0.0, 0.0, 1.0]
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# Overlapping area between images (to be updated)
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Camera1.overlappingBegin: 0
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Camera1.overlappingEnd: 848
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Camera2.overlappingBegin: 0
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Camera2.overlappingEnd: 848
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# Camera resolution
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Camera.width: 848
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Camera.height: 800
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# Camera frames per second
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Camera.fps: 30
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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: [-0.999959, -0.00265193, 0.00870996, 0.0107000041753054,
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0.00262197, -0.999991, -0.0034493, -1.45519152283669e-11,
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0.00871902, -0.00342632, 0.999956, -1.45519152283669e-11,
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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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IMU.InsertKFsWhenLost: 0
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# IMU noise
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IMU.NoiseGyro: 1e-3 # 0.000005148030141 # rad/s^0.5
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IMU.NoiseAcc: 1e-2 # 0.000066952452471 # m/s^1.5
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IMU.GyroWalk: 0.000000499999999 # rad/s^1.5
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IMU.AccWalk: 0.000099999997474 # m/s^2.5
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IMU.Frequency: 200.0
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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: 500 # 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: 15
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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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Viewer.imageViewScale: 2.0
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