%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: "V101_to_V102_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: "V101_to_V103_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