92 lines
3.0 KiB
YAML
92 lines
3.0 KiB
YAML
|
%YAML:1.0
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Session config
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# When the variables are commented, the system doesn't load a previous session or not store the current one
|
||
|
|
|
||
|
|
# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
|
||
|
|
System.LoadAtlasFromFile: "MH01_to_MH02_mono_inertial.osa"
|
||
|
|
|
||
|
|
# The store file is created from the current session, if a file with the same name exists it is deleted
|
||
|
|
System.SaveAtlasToFile: "MH01_to_MH03_mono_inertial.osa"
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# Camera Parameters. Adjust them!
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
Camera.type: "PinHole"
|
||
|
|
|
||
|
|
# Camera calibration and distortion parameters (OpenCV)
|
||
|
|
Camera.fx: 458.654
|
||
|
|
Camera.fy: 457.296
|
||
|
|
Camera.cx: 367.215
|
||
|
|
Camera.cy: 248.375
|
||
|
|
|
||
|
|
Camera.k1: -0.28340811
|
||
|
|
Camera.k2: 0.07395907
|
||
|
|
Camera.p1: 0.00019359
|
||
|
|
Camera.p2: 1.76187114e-05
|
||
|
|
|
||
|
|
# Camera resolution
|
||
|
|
Camera.width: 752
|
||
|
|
Camera.height: 480
|
||
|
|
|
||
|
|
# 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
|
||
|
|
|
||
|
|
# Transformation from camera to body-frame (imu)
|
||
|
|
Tbc: !!opencv-matrix
|
||
|
|
rows: 4
|
||
|
|
cols: 4
|
||
|
|
dt: f
|
||
|
|
data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
|
||
|
|
0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
|
||
|
|
-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
|
||
|
|
0.0, 0.0, 0.0, 1.0]
|
||
|
|
|
||
|
|
# IMU noise
|
||
|
|
IMU.NoiseGyro: 1.7e-4 #1.6968e-04
|
||
|
|
IMU.NoiseAcc: 2.0000e-3 #2.0e-3
|
||
|
|
IMU.GyroWalk: 1.9393e-05
|
||
|
|
IMU.AccWalk: 3.0000e-03 # 3e-03
|
||
|
|
IMU.Frequency: 200
|
||
|
|
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
# ORB Parameters
|
||
|
|
#--------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# ORB Extractor: Number of features per image
|
||
|
|
ORBextractor.nFeatures: 1000 # 1000
|
||
|
|
|
||
|
|
# 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
|
||
|
|
ORBextractor.minThFAST: 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 # -1.8
|
||
|
|
Viewer.ViewpointF: 500
|
||
|
|
|