121 lines
3.7 KiB
YAML
121 lines
3.7 KiB
YAML
|
%YAML:1.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Camera Parameters. Adjust them!
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
Camera.type: "KannalaBrandt8"
|
||
|
|
|
||
|
|
# Left Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera.fx: 284.9501953125
|
||
|
|
Camera.fy: 285.115295410156
|
||
|
|
Camera.cx: 420.500213623047
|
||
|
|
Camera.cy: 400.738098144531
|
||
|
|
|
||
|
|
# Kannala-Brandt distortion parameters
|
||
|
|
Camera.k1: -0.00530046410858631
|
||
|
|
Camera.k2: 0.0423333682119846
|
||
|
|
Camera.k3: -0.03949885815382
|
||
|
|
Camera.k4: 0.00682387687265873
|
||
|
|
|
||
|
|
# Right Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera2.fx: 285.001312255859
|
||
|
|
Camera2.fy: 284.914215087891
|
||
|
|
Camera2.cx: 411.864196777344
|
||
|
|
Camera2.cy: 403.41259765625
|
||
|
|
|
||
|
|
# Kannala-Brandt distortion parameters
|
||
|
|
Camera2.k1: -0.00375203299336135
|
||
|
|
Camera2.k2: 0.0379297286272049
|
||
|
|
Camera2.k3: -0.0352463386952877
|
||
|
|
Camera2.k4: 0.00548873096704
|
||
|
|
|
||
|
|
# Transformation matrix from right camera to left camera
|
||
|
|
Tlr: !!opencv-matrix
|
||
|
|
rows: 3
|
||
|
|
cols: 4
|
||
|
|
dt: f
|
||
|
|
data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
|
||
|
|
-0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
|
||
|
|
-0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05]
|
||
|
|
|
||
|
|
# Lapping area between images (We must calculate)
|
||
|
|
Camera.lappingBegin: 0
|
||
|
|
Camera.lappingEnd: 848
|
||
|
|
|
||
|
|
Camera2.lappingBegin: 0
|
||
|
|
Camera2.lappingEnd: 848
|
||
|
|
|
||
|
|
# Camera resolution
|
||
|
|
Camera.width: 848
|
||
|
|
Camera.height: 800
|
||
|
|
|
||
|
|
# Camera frames per second
|
||
|
|
Camera.fps: 30.0
|
||
|
|
|
||
|
|
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
|
||
|
|
Camera.RGB: 1
|
||
|
|
|
||
|
|
# Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
|
||
|
|
Camera.imageScale: 0.5 # 0.7071 # 1/sqrt(2)
|
||
|
|
|
||
|
|
# Close/Far threshold. Baseline times.
|
||
|
|
ThDepth: 40.0
|
||
|
|
# stereo baseline times fx
|
||
|
|
Camera.bf: 18.143917436
|
||
|
|
|
||
|
|
|
||
|
|
# Transformation from body-frame (imu) to left camera
|
||
|
|
Tbc: !!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
|
||
|
|
InsertKFsWhenLost: 0
|
||
|
|
|
||
|
|
# IMU noise
|
||
|
|
IMU.NoiseGyro: 1e-3 # 0.000005148030141 # rad/s^0.5
|
||
|
|
IMU.NoiseAcc: 1e-2 # 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
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# ORB Extractor: Number of features per image
|
||
|
|
ORBextractor.nFeatures: 500 # 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: 15 # 20
|
||
|
|
ORBextractor.minThFAST: 7 # 7
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Viewer Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
Viewer.KeyFrameSize: 0.05
|
||
|
|
Viewer.KeyFrameLineWidth: 1
|
||
|
|
Viewer.GraphLineWidth: 0.9
|
||
|
|
Viewer.PointSize: 2
|
||
|
|
Viewer.CameraSize: 0.08
|
||
|
|
Viewer.CameraLineWidth: 3
|
||
|
|
Viewer.ViewpointX: 0
|
||
|
|
Viewer.ViewpointY: -0.7
|
||
|
|
Viewer.ViewpointZ: -3.5
|
||
|
|
Viewer.ViewpointF: 500
|
||
|
|
Viewer.imageViewScale: 2
|