d455标定文件

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D455标定文件

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters (Need to be Adjusted)
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

Camera.fx: 428.095886230469
Camera.fy: 427.559661865234
Camera.cx: 433.961669921875
Camera.cy: 239.139083862305

Camera.k1: -0.0564233511686325
Camera.k2: 0.0676868334412575
Camera.p1: 0.000179319584276527
Camera.p2: 0.000386114203138277

Camera.width: 848
Camera.height: 480

Camera.fps: 30.0

# IR projector baseline (d455: 95mm) times fx (aprox.)
Camera.bf: 40.669

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

# Close/Far threshold. Baseline times.
ThDepth: 50.0

# Deptmap values factor
DepthMapFactor: 1000.0

# Left Camera to IMU Transform
#Tbc: !!opencv-matrix
#  rows: 4
#  cols: 4
#  dt: f
#  data:
#    [0.999997,         0.00178305,       0.00186204,       0.0288179721683264,
#     -0.00177265,      0.999983,        -0.00557174,       0.00749534415081143,
#     -0.00187194,      0.00556842,       0.999983,         0.0157551020383835,
#     0.0,              0.0,              0.0,              1.0]
Tbc: !!opencv-matrix
  rows: 4
  cols: 4
  dt: f
  data:
    [0.999997,        -0.00177265,      -0.00187194,      -0.0287750978022814,
     0.00178305,       0.999983,         0.00556842,      -0.00763433100655675,
     0.00186204,      -0.00557174,       0.999983,        -0.0157667268067598,
     0.0,              0.0,              0.0,              1.0]

IMU.NoiseGyro: 2.8227829947665693e-03
IMU.NoiseAcc: 1.6324958258624640e-02
IMU.GyroWalk: 2.2798061029608936e-05
IMU.AccWalk: 1.8448325759171436e-04
IMU.Frequency: 400

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

# Number of features per image
ORBextractor.nFeatures: 1000

# Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: 1.2

# Number of levels in the scale pyramid	
ORBextractor.nLevels: 8

# 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
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500