forked from xtdrone/XTDrone
66 lines
2.4 KiB
YAML
66 lines
2.4 KiB
YAML
%YAML:1.0
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#common parameters
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imu: 0
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num_of_cam: 2
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imu_topic: ""
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image0_topic: "/leftImage"
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image1_topic: "/rightImage"
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output_path: "/home/tony-ws1/output/"
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cam0_calib: "cam04-12.yaml"
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cam1_calib: "cam04-12.yaml"
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image_width: 1241
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image_height: 376
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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: [1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0,
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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: [1, 0, 0, 0.537150653267924,
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0, 1, 0, 0,
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0, 0, 1, 0,
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0, 0, 0, 1]
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#Multiple thread support
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multiple_thread: 0
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#feature traker paprameters
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max_cnt: 200 # 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: 0.08 # max solver itration time (s), to guarantee real time
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max_num_iterations: 10 # max solver itrations, to guarantee real time
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keyframe_parallax: 15 # keyframe selection threshold (pixel)
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#imu parameters The more accurate parameters you provide, the better performance
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acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04
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gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004
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acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02
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gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5
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g_norm: 9.81007 # gravity magnitude
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#unsynchronization parameters
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estimate_td: 0 # online estimate time offset between camera and imu
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td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
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