113 lines
3.7 KiB
YAML
113 lines
3.7 KiB
YAML
|
%YAML:1.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Camera Parameters. Adjust them!
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
Camera.type: "KannalaBrandt8"
|
||
|
|
|
||
|
|
# Left Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera.fx: 190.97847715128717
|
||
|
|
Camera.fy: 190.9733070521226
|
||
|
|
Camera.cx: 254.93170605935475
|
||
|
|
Camera.cy: 256.8974428996504
|
||
|
|
|
||
|
|
# Kannala-Brandt distortion parameters
|
||
|
|
Camera.k1: 0.0034823894022493434
|
||
|
|
Camera.k2: 0.0007150348452162257
|
||
|
|
Camera.k3: -0.0020532361418706202
|
||
|
|
Camera.k4: 0.00020293673591811182
|
||
|
|
|
||
|
|
# Right Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera2.fx: 190.44236969414825
|
||
|
|
Camera2.fy: 190.4344384721956
|
||
|
|
Camera2.cx: 252.59949716835982
|
||
|
|
Camera2.cy: 254.91723064636983
|
||
|
|
|
||
|
|
# Kannala-Brandt distortion parameters
|
||
|
|
Camera2.k1: 0.0034003170790442797
|
||
|
|
Camera2.k2: 0.001766278153469831
|
||
|
|
Camera2.k3: -0.00266312569781606
|
||
|
|
Camera2.k4: 0.0003299517423931039
|
||
|
|
|
||
|
|
# Transformation matrix from right camera to left camera
|
||
|
|
Tlr: !!opencv-matrix
|
||
|
|
rows: 3
|
||
|
|
cols: 4
|
||
|
|
dt: f
|
||
|
|
data: [ 0.999999445773493, 0.000791687752817, 0.000694034010224, 0.101063427414194,
|
||
|
|
-0.000823363992158, 0.998899461915674, 0.046895490788700, 0.001946204678584,
|
||
|
|
-0.000656143613644, -0.046896036240590, 0.998899560146304, 0.001015350132563]
|
||
|
|
|
||
|
|
# Lapping area between images
|
||
|
|
Camera.lappingBegin: 0
|
||
|
|
Camera.lappingEnd: 511
|
||
|
|
|
||
|
|
Camera2.lappingBegin: 0
|
||
|
|
Camera2.lappingEnd: 511
|
||
|
|
|
||
|
|
# Camera resolution
|
||
|
|
Camera.width: 512
|
||
|
|
Camera.height: 512
|
||
|
|
|
||
|
|
# Camera frames per second
|
||
|
|
Camera.fps: 20.0
|
||
|
|
|
||
|
|
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
|
||
|
|
Camera.RGB: 1
|
||
|
|
|
||
|
|
# Close/Far threshold. Baseline times.
|
||
|
|
ThDepth: 40.0
|
||
|
|
Camera.bf: 19.3079
|
||
|
|
|
||
|
|
|
||
|
|
# Transformation from body-frame (imu) to left camera
|
||
|
|
Tbc: !!opencv-matrix
|
||
|
|
rows: 4
|
||
|
|
cols: 4
|
||
|
|
dt: f
|
||
|
|
data: [-0.9995250378696743, 0.0075019185074052044, -0.02989013031643309, 0.045574835649698026,
|
||
|
|
0.029615343885863205, -0.03439736061393144, -0.998969345370175, -0.071161801837997044,
|
||
|
|
-0.008522328211654736, -0.9993800792498829, 0.03415885127385616, -0.044681254117144367,
|
||
|
|
0.0, 0.0, 0.0, 1.0]
|
||
|
|
|
||
|
|
# IMU noise (Use those from VINS-mono)
|
||
|
|
IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016 # rad/s^0.5
|
||
|
|
IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028 # m/s^1.5
|
||
|
|
IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5
|
||
|
|
IMU.AccWalk: 0.00086 # 0.0004 (VINS) # 0.00086 # 0.00086 # m/s^2.5
|
||
|
|
IMU.Frequency: 200
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# ORB Extractor: Number of features per image
|
||
|
|
ORBextractor.nFeatures: 1000 # 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: 20 # 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
|