115 lines
3.7 KiB
YAML
115 lines
3.7 KiB
YAML
%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# System config
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#--------------------------------------------------------------------------------------------
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# When the variables are commented, the system doesn't load a previous session or not store the current one
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# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
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# System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
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# The store file is created from the current session, if a file with the same name exists it is deleted
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# System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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File.version: "1.0"
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Camera.type: "PinHole"
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# Camera calibration and distortion parameters (OpenCV)
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Camera1.fx: 458.654
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Camera1.fy: 457.296
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Camera1.cx: 367.215
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Camera1.cy: 248.375
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Camera1.k1: -0.28340811
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Camera1.k2: 0.07395907
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Camera1.p1: 0.00019359
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Camera1.p2: 1.76187114e-05
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Camera2.fx: 457.587
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Camera2.fy: 456.134
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Camera2.cx: 379.999
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Camera2.cy: 255.238
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Camera2.k1: -0.28368365
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Camera2.k2: 0.07451284
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Camera2.p1: -0.00010473
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Camera2.p2: -3.55590700e-05
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Camera.width: 752
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 20
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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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# Close/Far threshold. Baseline times.
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Stereo.ThDepth: 60.0
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Stereo.T_c1_c2: !!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: [0.999997256477797,-0.002317135723275,-0.000343393120620,0.110074137800478,
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0.002312067192432,0.999898048507103,-0.014090668452683,-0.000156612054392,
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0.000376008102320,0.014089835846691,0.999900662638081,0.000889382785432,
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0,0,0,1.000000000000000]
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# Transformation from camera 0 to body-frame (imu)
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IMU.T_b_c1: !!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: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
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0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
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-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
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0.0, 0.0, 0.0, 1.0]
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# IMU noise
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IMU.NoiseGyro: 1.7e-04 # 1.6968e-04
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IMU.NoiseAcc: 2.0e-03 # 2.0000e-3
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IMU.GyroWalk: 1.9393e-05
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IMU.AccWalk: 3.e-03 # 3.0000e-3
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IMU.Frequency: 200.0
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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: 1200
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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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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1.0
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize: 2.0
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3.0
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Viewer.ViewpointX: 0.0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -1.8
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Viewer.ViewpointF: 500.0
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Viewer.imageViewScale: 1.0
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