92 lines
3.3 KiB
YAML
92 lines
3.3 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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Camera.type: "KannalaBrandt8"
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 190.978477 # 190.97847715128717
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Camera.fy: 190.973307 # 190.9733070521226
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Camera.cx: 254.931706 # 254.93170605935475
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Camera.cy: 256.897442 # 256.8974428996504
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# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
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#Camera.bFishEye: 1
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Camera.k1: 0.003482389402 # 0.0034823894022493434
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Camera.k2: 0.000715034845 # 0.0007150348452162257
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Camera.k3: -0.002053236141 # -0.0020532361418706202
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Camera.k4: 0.000202936736 # 0.00020293673591811182
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# Camera resolution
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Camera.width: 512
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Camera.height: 512
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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 body-frame (imu) to camera
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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: [-0.9995250378696743, 0.0075019185074052044, -0.02989013031643309, 0.045574835649698026,
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0.029615343885863205, -0.03439736061393144, -0.998969345370175, -0.071161801837997044,
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-0.008522328211654736, -0.9993800792498829, 0.03415885127385616, -0.044681254117144367,
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0.0, 0.0, 0.0, 1.0]
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# Tbc: !!opencv-matrix # from vins mono calibration file
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# rows: 4
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# cols: 4
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# dt: f
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# data: [-0.9995250378696743, 0.0075842033363785165, -0.030214670573904204, 0.044511917113940799,
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# 0.029940114644659861, -0.034023430206013172, -0.99897246995704592, -0.073197096234105752,
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# -0.0086044170750674241, -0.99939225835343004, 0.033779845322755464, -0.047972907300764499,
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# 0.0, 0.0, 0.0, 1.0]
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# IMU noise (Use those from VINS-mono)
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IMU.NoiseGyro: 0.00016 # rad/s^0.5
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IMU.NoiseAcc: 0.0028 # m/s^1.5
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IMU.GyroWalk: 0.000022 # rad/s^1.5
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IMU.AccWalk: 0.00086 # m/s^2.5
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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: 1500 # 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: 20
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# ORBextractor.minThFAST: 7
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ORBextractor.iniThFAST: 20 # 20
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ORBextractor.minThFAST: 7 # 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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