-
Notifications
You must be signed in to change notification settings - Fork 49
/
kitti2.yaml
101 lines (87 loc) · 2.73 KB
/
kitti2.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
%YAML:1.0
# flags
use_imu: 0
use_lidar: 0
use_navsat: 1
use_loop: 0 # 0 for only odometry, 1 for whole system
use_eskf: 0
use_adapt: 0
# ros parameter
imu_topic: '/imu_raw'
lidar_topic: '/points_raw'
navsat_topic: '/gps/fix'
image0_topic: '/kitti/camera_gray_left/image_raw'
image1_topic: '/kitti/camera_gray_right/image_raw'
color_topic: '/kitti/camera_color_left/image_raw'
result_path: '/home/jyp/Projects/lvio_fusion/result/result.csv'
# cameras parameters
undistort: 0
# camera0 intrinsics
camera0.fx: 7.188560000000e+02
camera0.fy: 7.188560000000e+02
camera0.cx: 6.071928000000e+02
camera0.cy: 1.852157000000e+02
# camera1 intrinsics
camera1.fx: 7.188560000000e+02
camera1.fy: 7.188560000000e+02
camera1.cx: 6.071928000000e+02
camera1.cy: 1.852157000000e+02
# lidar parameters
num_scans: 64 # only for 16, 32, 64
horizon_scan: 1800
ang_res_y: 0.427
ang_bottom: 24.9
ground_rows: 60
cycle_time: 0.1036
min_range: 5
max_range: 50
deskew: 0
spacing: 0
resolution: 0.2
#imu parameters
acc_n: 0.08 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.004 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.00004 # accelerometer bias random work noise standard deviation. #0.02
gyr_w: 2.0e-6 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.81007 # gravity magnitude
# body_to_cam0 is inverse of [R T]
body_to_cam0: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 0.00875117, -0.00479608, 0.99995, 1.10224,
-0.999865 , -0.0140025 , 0.00868325 , -0.319072,
0.0139602 , -0.999891 ,-0.00491796 , 0.746066,
0 , 0 , 0 , 1]
# body_to_cam1 is inverse of [R T]
body_to_cam1: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 0.00875117, -0.00479608, 0.99995, 1.10695,
-0.999865 , -0.0140025 , 0.00868325 , -0.856165,
0.0139602 , -0.999891 ,-0.00491796 , 0.753565,
0 , 0 , 0 , 1]
# lidar to body
body_to_lidar: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 0.999998 , -0.000785403, 0.00202441, 0.810544,
0.000755307, 0.99989 , 0.0148245 , -0.307054,
-0.00203583, -0.014823 , 0.999888 , 0.802724,
0 , -0 , -0 , 1]
# number of features
num_features: 500
num_features_init: 50
num_features_tracking_bad: 20
num_features_needed_for_keyframe: 120
remove_moving_points: 0
# backend
windows_size: 3
# navsat
accuracy: 1
navsat_v: 0
# loop
relocator_mode: 0 # none = 0, visual = 1, lidar = 2, visual&&lidar = 3
threshold: 30