ORB_SLAM3/Examples/Monocular-Inertial/MIMIR.yaml at 74238a9fca8c1d5a33b7da0774f8772dc92d7e79 · UZ-SLAMLab/ORB_SLAM3 · GitHub

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%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 252.07470703125
Camera1.fy: 252.07470703125
Camera1.cx: 360.0
Camera1.cy: 270.0

Camera1.k1: 0.0
Camera1.k2: 0.0
Camera1.p1: 0.0
Camera1.p2: 0.0

Camera.width: 720
Camera.height: 540

Camera.newWidth: 720
Camera.newHeight: 540

# Camera frames per second
Camera.fps: 30

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Transformation from camera to body-frame (imu)
IMU.T_b_c1: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [0.9659258262890682, -0.0, -0.25881904510252074, 0.45,
          0.0, 1.0, -0.0, -0.06,
          0.25881904510252074, 0.0, 0.9659258262890682, 0.0,
          0.0, 0.0, 0.0, 1.0]

#      "rate_hz": 210,
#     "angular_random_walk": 0.3,
#     "giro_bias_stability_tau": 500,
#     "giro_bias_stability": 4.6,
#     "velocity_random_walk": 0.24,
#     "accel_bias_stability": 36,
#     "accel_bias_stability_tau": 800

# IMU noise
IMU.NoiseGyro: 1.7e-4 #1.6968e-04
IMU.NoiseAcc: 2.0000e-3 #2.0e-3
IMU.GyroWalk: 1.9393e-05
IMU.AccWalk: 3.0000e-03 # 3e-03
IMU.Frequency: 210.0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000 # 1000

# 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: 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