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params_mars_yard.yaml
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params_mars_yard.yaml
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/use_sim_time: true
a_m_max: 88.29
b_a:
- 0.0
- 0.0
- 0.0
b_w:
- 0.0
- 0.0
- 0.0
block_half_length: 6
# Camera calibration for mv_extrinsics_2016-02-11-08-42-49
cam1_fx: 0.466736650521
cam1_fy: 0.730390741945
cam1_cx: 0.488159288758
cam1_cy: 0.469376440052
cam1_dist_model: fov
cam1_dist_params: [0.9528150174424326]
cam1_img_width: 752
cam1_img_height: 480
cam1_q_ic: [-0.008063997339346242, 0.999622102981051, -0.02524918431200863, -0.007287103006700131] #[w,x,y,z]
cam1_p_ic: [-0.7408400097995479, -0.023650805694636692, -0.86111483612561] #[x,y,z]
cam1_time_offset: -0.0220438178876
#cam1_cx: 0.533839538103
#cam1_cy: 0.452191783609
#cam1_dist_model: radial-tangential
#cam1_dist_params:
#- -0.37964381989293516
#- 0.16588122497853042
#- 0.000719295985613572
#- -0.0012078763628782995
#cam1_fx: 0.925339173705
#cam1_fy: 1.22248310329
#cam1_img_height: 480
#cam1_img_width: 640
#cam1_p_ic:
#- -0.21518750448932794
#- 0.0007401427423516556
#- -0.09215016543882257
#cam1_q_ic:
#- -0.024082500605671017
#- 0.9997023667993531
#- 0.00041708735658335357
#- -0.0038777594673196705
#cam1_time_offset: 0.0141923822342
cam2_cx: 0.533839538103
cam2_cy: 0.452191783609
cam2_dist_model: radial-tangential
cam2_dist_params:
- -0.37964381989293516
- 0.16588122497853042
- 0.000719295985613572
- -0.0012078763628782995
cam2_fx: 0.925339173705
cam2_fy: 1.22248310329
cam2_img_height: 480
cam2_img_width: 640
cam2_p_ic:
- -0.21518750448932794
- 0.0007401427423516556
- -0.09215016543882257
cam2_q_ic:
- -0.024082500605671017
- 0.9997023667993531
- 0.00041708735658335357
- -0.0038777594673196705
cam2_time_offset: 0.0141923822342
correct_event_motion: false
delta_seq_imu: 1
eklt_arrow_length: 5
eklt_batch_size: 500
eklt_bootstrap: klt
eklt_detection_min_distance: 40
eklt_displacement_px: 0.6
eklt_display_feature_id: false
eklt_display_feature_patches: false
eklt_display_features: false
eklt_ekf_feature_extrapolation_limit: -1.0
eklt_ekf_feature_interpolation: linear-no-limit
eklt_ekf_update_every_n: 20000
eklt_ekf_update_strategy: every-n-events
eklt_ekf_update_timestamp: patches-maximum
eklt_enable_outlier_removal: true
eklt_first_image_t: -1
eklt_harris_block_size: 3
eklt_harris_k: 0.01
eklt_harris_quality_level: 0.01
eklt_lk_window_size: 20
eklt_log_eps: 0.01
eklt_max_corners: 70
eklt_max_num_iterations: 10
eklt_min_corners: 45
eklt_num_pyramidal_layers: 3
eklt_outlier_method: 8
eklt_outlier_param1: 0.6
eklt_outlier_param2: 0.99
eklt_patch_size: 33
eklt_patch_timestamp_assignment: accumulated-events-center
eklt_scale: 4
eklt_tracking_quality: 0.3
eklt_tracks_file_txt: ''
eklt_update_every_n_events: 20
eklt_use_linlog_scale: false
event_accumulation_methode: 0
event_accumulation_period: 0.1
event_cam1_cx: 0.550800297
event_cam1_cy: 0.615070333
event_cam1_dist_model: radial-tangential
event_cam1_dist_params:
- -0.3684363117977873
- 0.1509472435566583
- -0.0002961305343848646
- -0.000759431726241032
- 0
event_cam1_fx: 0.829551527
event_cam1_fy: 1.104604558
event_cam1_img_height: 180
event_cam1_img_width: 240
event_cam1_p_ic:
- 0.00674696422488
- 0.0007279224709
- 0.0342573613538
event_cam1_q_ic:
- 0.999965419952174
- 0.00466020631918
- -0.003190841088148
- -0.006104089619662
event_cam1_time_offset: 0.0
event_motion_correction_delay: 10
event_norm_factor: 4.0
fast_detection_delta: 20
g:
- 0.0
- 0.0
- -9.81
haste_bootstrap_from_frames: false
haste_bootstrap_with_unit_length_of: true
haste_detection_min_distance: 8
haste_ekf_feature_extrapolation_limit: -1.0
haste_ekf_feature_interpolation: nearest-neighbor
haste_ekf_update_every_n: 3200
haste_ekf_update_strategy: every-n-events
haste_ekf_update_timestamp: patches-maximum
haste_enable_outlier_removal: true
haste_harris_block_size: 3
haste_harris_k: 0
haste_harris_quality_level: 0.3
haste_max_corners: 60
haste_min_corners: 45
haste_outlier_method: 8
haste_outlier_param1: 1.3
haste_outlier_param2: 0.95
haste_patch_size: 31
haste_tracker_type: haste-correlation-star
iekf_iter: 1
init_at_startup: false
margin: 6
max_feat_per_tile: 10000
min_track_length: 10
msckf_baseline: 30.0
n_a: 0.004316
n_ba: 0.0004316
n_bw: 2.0e-05
n_events_max: 40000
n_events_min: 15000
n_events_noise_detection_min: 40
n_feat_min: 400
n_poses_max: 10
n_slam_features_max: 25
n_tiles_h: 1
n_tiles_w: 1
n_w: 0.0002
noise_event_rate: 20000
non_max_supp: true
outlier_method: 8
outlier_param1: 1.6
outlier_param2: 0.99
p:
- 0.0
- 0.0
- 0.0
q:
- 0.991193058235731
- -0.1257946472590912
- 0.04137666040486585
- 0.0
q_sc:
- 1.0
- 0.0
- 0.0
- 0.0
rho_0: 0.5
sigma_dba:
- 0.3
- 0.3
- 0.3
sigma_dbw:
- 6.0
- 6.0
- 6.0
sigma_dp:
- 0.0
- 0.0
- 0.0
sigma_dtheta:
- 3.0
- 3.0
- 3.0
sigma_dv:
- 0.05
- 0.05
- 0.05
sigma_img: 0.02541924711215672
sigma_range: 0.05
sigma_rho_0: 0.125
state_buffer_size: 500
state_buffer_time_margin: 0.02
traj_timeout_gui: 3
v:
- 0.0
- 0.0
- 0.0
w_s:
- 0.0
- 0.0
- 1.0