forked from xtdrone/XTDrone
60 lines
2.2 KiB
YAML
60 lines
2.2 KiB
YAML
%YAML:1.0
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#common parameters
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#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
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imu: 0
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num_of_cam: 2
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imu_topic: "/mynteye/imu/data_raw"
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image0_topic: "/mynteye/left/image_raw"
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image1_topic: "/mynteye/right/image_raw"
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output_path: "/home/tong/output/"
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cam0_calib: "left_mei.yaml"
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cam1_calib: "right_mei.yaml"
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image_width: 752
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image_height: 480
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# Extrinsic parameter between IMU and Camera.
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estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
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# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
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body_T_cam0: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [ 4.2812441490024389e-03, -9.9997001507473682e-01,
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-6.4528985710044385e-03, 5.2583356071589790e-05,
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9.9996900935734523e-01, 4.2384270612576547e-03,
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6.6344601088757426e-03, -4.2174706544162562e-02,
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-6.6069110351583190e-03, -6.4811023350536514e-03,
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9.9995717110239080e-01, 1.9238715201769417e-02, 0., 0., 0., 1. ]
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body_T_cam1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [ 1.6525177162010074e-03, -9.9998509853672479e-01,
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-5.2030654132755290e-03, -2.9251875934051923e-03,
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9.9994935393851081e-01, 1.6007594247438028e-03,
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9.9361525360214843e-03, 7.4379061731550719e-02,
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-9.9276756168115085e-03, -5.2192215666013279e-03,
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9.9993709851324453e-01, 1.9302672329335892e-02, 0., 0., 0., 1. ]
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#Multiple thread support
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multiple_thread: 1
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#feature traker paprameters
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max_cnt: 150 # max feature number in feature tracking
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min_dist: 30 # min distance between two features
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freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
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F_threshold: 1.0 # ransac threshold (pixel)
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show_track: 1 # publish tracking image as topic
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flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
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#optimization parameters
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max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
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max_num_iterations: 8 # max solver itrations, to guarantee real time
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keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
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