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cam_param_ORBSLAM_ver.yaml
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# System 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: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
# The store file is created from the current session, if a file with the same name exists it is deleted
#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 610.832763671875
Camera1.fy: 611.7766723632812
Camera1.cx: 640.0
Camera1.cy: 360.0
Camera1.k1: 0.0
Camera1.k2: 0.0
Camera1.p1: 0.0
Camera1.p2: 0.0
Camera2.fx: 610.832763671875
Camera2.fy: 611.7766723632812
Camera2.cx: 640.0
Camera2.cy: 360.0
Camera2.k1: 0.0
Camera2.k2: 0.0
Camera2.p1: 0.0
Camera2.p2: 0.0
Camera.width: 1280
Camera.height: 720
# Camera frames per second
Camera.fps: 30
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
Stereo.ThDepth: 30.0
Stereo.T_c1_c2: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [1.0, 0.0, 0.0, 0.12,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0 , 0.0,
0, 0, 0, 1.0]
# Transformation from camera 0 to body-frame (imu)
IMU.T_b_c1: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.0, 0.0 ,1.0 ,0.103 ,
-1.0 ,0.0 ,0.0 ,0.06 ,
0.0, -1.0 ,0.0 ,0.3905,
0.0, 0.0 ,0.0 ,1.0 ]
# # IMU noise
# IMU.NoiseGyro: 0.0003394 #1.6968e-04
# IMU.NoiseAcc: 0.004 #2.0e-3
# IMU.GyroWalk: 0.000038785
# IMU.AccWalk: 0.006 # 3e-03
# IMU.Frequency: 120.0
# IMU noise
IMU.NoiseGyro: 0.0003394 #1.6968e-04
IMU.NoiseAcc: 0.004 #2.0e-3
IMU.GyroWalk: 0.000038785
IMU.AccWalk: 0.006 # 3e-03
IMU.Frequency: 120.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1200
# 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: 1.0
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2.0
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500.0
Viewer.imageViewScale: 1.0