92 lines
3.0 KiB
YAML
92 lines
3.0 KiB
YAML
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%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: ""
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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: "V101_mono_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)
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Camera.fx: 458.654
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Camera.fy: 457.296
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Camera.cx: 367.215
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Camera.cy: 248.375
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Camera.k1: -0.28340811
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Camera.k2: 0.07395907
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Camera.p1: 0.00019359
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Camera.p2: 1.76187114e-05
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# Camera resolution
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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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# 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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# Transformation from camera 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-4 #1.6968e-04
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IMU.NoiseAcc: 2.0000e-3 #2.0e-3
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IMU.GyroWalk: 1.9393e-05
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IMU.AccWalk: 3.0000e-03 # 3e-03
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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: 1000 # 1000
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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 # -1.8
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Viewer.ViewpointF: 500
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