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viode_config.yaml
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viode_config.yaml
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%YAML:1.0
#common parameters
imu_topic: "/imu0"
image_topic: "/cam0/image_raw"
mask_topic: "/cam0/segmentation"
output_path: "~/output/"
#plane labels (ground, wall, road)
planesRGB: !!opencv-matrix
rows: 3
cols: 3
dt: u
data: [179, 217, 227,
167, 128, 147,
235, 152, 233]
#camera calibration
model_type: PINHOLE
camera_name: camera
image_width: 752
image_height: 480
distortion_parameters:
k1: 0
k2: 0
p1: 0
p2: 0
projection_parameters:
fx: 376
fy: 376
cx: 376
cy: 240
estimate_extrinsic: 0
#Rotation from camera frame to imu frame, imu^R_cam
extrinsicRotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0,0,1,1,0,0,0,1,0]
#Translation from camera frame to imu frame, imu^T_cam
extrinsicTranslation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [0, 0, 0]
#feature traker parameters
max_cnt: 250 # max feature number in feature tracking
min_dist: 30 # min distance between two features
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
H_threshold: 1.0 # ransac threshold (pixel)
show_track: 1 # publish tracking image as topic
equalize: 1 # if image is too dark or light, trun on equalize to find enough features
fisheye: 0 # if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points
#optimization parameters
max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
max_num_iterations: 8 # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
#discrete-time imu noise parameters (as provided in dataset)
# NOTE: Their values differ from the true AirSim params
acc_n: 0.2 # accelerometer measurement noise standard deviation.
gyr_n: 0.05 # gyroscope measurement noise standard deviation.
acc_w: 0.02 # accelerometer bias random work noise standard deviation.
gyr_w: 4.0e-5 # gyroscope bias random work noise standard deviation.
g_norm: 9.81007 # gravity magnitude
#unsynchronization parameters
estimate_td: 0
td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
#rolling shutter parameters
rolling_shutter: 0 # 0: global shutter camera, 1: rolling shutter camera
rolling_shutter_tr: 0 # unit: s. rolling shutter read out time per frame (from data sheet).
#visualization parameters
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0
visualize_imu_forward: 0 # output imu forward propogation to achieve low latency and high frequence results
visualize_camera_size: 0.4 # size of camera marker in RVIZ