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mi_8_by_aprilgrid_1.yaml
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mi_8_by_aprilgrid_1.yaml
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%YAML:1.0
# from EuRoc.yaml
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "PinHole"
# intrinsics: [562.7316337110448, 560.3423735300665, 317.2140542719598, 391.6093401190242]
# [fu fv pu pv]
# distortion_coeffs: [k1 k2 r1 r2]
# [0.06553264584007061, -0.11595512032462152, -0.001117813380511963, 0.005219962734861495]
# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 595.7182282949835
Camera1.fy: 594.9814912688832
Camera1.cx: 295.23243453934515
Camera1.cy: 404.43474572668373
Camera1.k1: 0.06592973662768427
Camera1.k2: -0.12009953832701149
Camera1.p1: 0.0034511942358520452
Camera1.p2: -0.0023522955824459312
# Camera resolution
Camera.width: 600
Camera.height: 800
Camera.newWidth: 600
Camera.newHeight: 800
# Camera frames per second
Camera.fps: 30.0
# 29.79
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
isColor: 0
# Transformation from camera to body-frame (imu)
IMU.T_b_c1: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.99998531, 0.00098068, -0.00533115, 0.04113615,
0.00090887, -0.99990905, -0.0134558, -0.0117691,
-0.00534386, 0.01345075, -0.99989525, -0.00055756,
0., 0., 0., 1. ]
# [ 0.9999842, 0.00118274, -0.00549466, 0.04068355,
# 0.00110488, -0.99989926, -0.01415119, -0.01175214,
# -0.00551085, 0.0141449, -0.99988477, -0.00028923,
# 0., 0., 0., 1. ]
# [0.63876269, 0.76904562, 0.02347468, 0.04530682,
# -0.50151271, 0.39302625, 0.77072393, 0.0424154,
# 0.5834957, -0.50408254, 0.63673665, -0.09822475,
# 0., 0., 0., 1. ]
# Accelerometer:
# Noise density: 0.016
# Noise density (discrete): 0.31766372501
# Random walk: 5.5e-05
# Gyroscope:
# Noise density: 0.0024
# Noise density (discrete): 0.0476495587516
# Random walk: 2e-05
# IMU noise
# from imu_utils
gyr_n: 2.0897790366737560e-03
gyr_w: 3.3686475741950929e-05
acc_n: 3.0690310195074056e-02
acc_w: 9.7833628333635959e-04
#IMU.NoiseGyro: 2.0897790366737560e-03
#IMU.GyroWalk: 3.3686475741950929e-05
#IMU.NoiseAcc: 3.0690310195074056e-02
#IMU.AccWalk: 9.7833628333635959e-04
# IMU noise
# from allan_variance_ros
accelerometer_noise_density: 0.0361716580869722
accelerometer_random_walk: 0.0036650120614056796
gyroscope_noise_density: 0.0018622495237027238
gyroscope_random_walk: 3.621158242285181e-05
IMU.NoiseGyro: 0.0018622495237027238
IMU.GyroWalk: 3.621158242285181e-05
IMU.NoiseAcc: 0.0361716580869722
IMU.AccWalk: 0.0036650120614056796
IMU.Frequency: 300.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1500
# 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: 10
# 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: -3.5 # -1.8
Viewer.ViewpointF: 500.0