forked from xtdrone/XTDrone
56 lines
2.0 KiB
YAML
56 lines
2.0 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: "/imu0"
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image0_topic: "/cam0/image_raw"
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image1_topic: "/cam1/image_raw"
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output_path: "/home/tony-ws1/output/"
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cam0_calib: "cam0_mei.yaml"
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cam1_calib: "cam1_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: [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, 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: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
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0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
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-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
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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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