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insta360_fisheye.yaml
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insta360_fisheye.yaml
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "KannalaBrandt8"
# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 655.8981695177911
Camera1.fy: 655.2684694757662
Camera1.cx: 667.785073232837
Camera1.cy: 671.9982423827496
Camera1.k1: -0.03921756962684961
Camera1.k2: -0.021530601122451525
Camera1.k3: 0.018882575055125594
Camera1.k4: -0.013622487793230564
# Camera resolution
Camera.width: 1344
Camera.height: 1344
# Camera frames per second
Camera.fps: 50
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Transformation from imu to camera
IMU.T_b_c1: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [
0.99998217, -0.00594429, 0.00057582, -0.00335964,
0.00594121, 0.99996878, 0.00520876, 0.00109523,
-0.00060676, -0.00520525, 0.99998627, -0.02238423,
0. , 0. , 0. , 1. ]
# IMU noise
IMU.NoiseGyro: 0.0017 #1.6968e-04
IMU.NoiseAcc: 0.01215 #2.0e-3
IMU.GyroWalk: 2.22e-05
IMU.AccWalk: 0.00017 # 3e-03
IMU.Frequency: 1000.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 5000 # 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
Viewer.imageViewScale: 0.5