structvio/structvio_data.yaml at master · danping/structvio · GitHub

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%YAML:1.0
# This is a configuration file for StructVIO written
# by Danping Zou,Lab of Navigation and Location-based Services(NLS), Shanghai Jiao Tong University.
# Email:danping_zou@sjtu.edu.cn
#
# maximum number of poses kept in the filter state
max_frame_num: 25
# maximun number of structure lines in each direction
max_line_num_x: 10
max_line_num_y: 10
max_line_num_z: 10
# threshold and standard deviation of feature noises
feature_thres: 3.0
sigma_seg: 4.2
sigma_im: 2.2
point_outlier_thres: 4.2
line_outlier_thres: 2.2
# initial inverse depth value
invdepth0: 0.01
#camera intrinsic marix
K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 255.772999999999996134648,0.0,317.384000000000014551915,0.0, 255.772999999999996134648,242.143000000000000682121,0.0, 0.0, 1.0]
#distortion parameters (one parameter FOV model, -10000 represents Invalid values)
kc: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [0.92378997802734375,-10000.0,-10000.0,-10000.0,-10000.0]
#image resolution
image_width: 640
image_height: 480
#misalignment parameters between gyro and acc from Kalibr
R_ga: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.99981049,0.01921627,0.00311797,-0.01920981,0.99981329,-0.00208883,-0.00315752,0.00202854,0.99999296]
#gyro parameters from Kalibr
gyro_M: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.00409913,0.,0.,-0.00104491,0.99840928,0.,0.00003528,-0.00003773,0.99754353]
#acc parameters from Kalibr
acc_M: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.98529621,0.,0.,-0.02645131,0.97676995,0.,-0.00366925,0.01920445,0.9838187]
#gyro bias (wil be updated)
gyro_bias: !!opencv-matrix
   rows: 1
   cols: 3
   dt: d
   data: [ 0., 0., 0. ]
#acc bias (wil be updated)
acc_bias: !!opencv-matrix
   rows: 1
   cols: 3
   dt: d
   data: [ -0.206,0.177,-0.05]
#noise parameters of IMU
gyro_noise_std: 5.0e-03
acc_noise_std: 5.0e-02
gyro_bias_random_walk_noise_std: 2.0e-04
acc_bias_random_walk_noise_std: 1.0e-03
imu_rate: 100.0
#transformation from the camera frame to the IMU frame (quaternion+translation)
imu_cam_trans: !!opencv-matrix
   rows: 1
   cols: 7
   dt: d
   data: [-0.115784,0.993255,0.0033886,0.0051271,0.00648922,-0.0123893,-0.00512952]