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Mrinal Paul authored Jun 7, 2017
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66 changes: 66 additions & 0 deletions config/sample_config.txt
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# Mode for the 2-camera system
stereo_mode = 2 # 1:Duo, 2:Stereo


# IMU Biases
accel_bias = [-0.0125, -0.0060, -0.1566]
gyro_bias = [-0.0114, 0.0016, -0.0080]


# Camera Intrinsics
fc = [297.82526, 297.33911]
cc = [332.82955, 233.30378]
kc = [-0.04522, 0.06441, -0.06346, 0.02125, 0.00000]

right_fc = [ 299.10144, 298.28535]
right_cc = [315.21843, 216.26522]
right_kc = [-0.06225, 0.09823, -0.09016, 0.02966, 0.00000]

image_dimension = [640, 480]


# IMU-Camera Extrinsic
imu_q_cam = [0, 0, -0.7071, 0.7071]
imu_p_cam = [.00157, -.13336, .0235]
imu_q_cam_right = [0.013617636555835 -0.013384815447097 -0.712501629148587 0.701396931238432]
imu_p_cam_right = [0.009804716553368 0.134603406534874 -0.002273390520198]
cam_l_q_cam_r = [0.000164630963610 -0.019093800030358 -0.007852282499049 0.999786847961405]
cam_l_p_cam_r = [0.267968546171590 -0.008234874498261 -0.025773884863310]


# IMU Noise [gyro_white-noise_sigma, gyro_bias_sigma, accel_white-noise_sigma, accel_bias_sigma]
imu_noises = [5.30884e-05, 0.000141254, 0.00188365, 0.0125893]


# IMU Intrinsics (optional, can set to false)
use_imu_intrinsics = true
accel_q_gyro = [0.001387827317663649 -0.001081272093680761 -0.0005771480080873569 0.9999982858416172]
skew_gyro = [0.006410355153366647 0.007331586063436632 -0.005641147968318373]
scale_gyro = [1.008251476897832 1.012280390654125 1.001424594939117]
skew_accel = [-0.04243770073016875 -0.006595876795554548 -0.00168528741443298]
scale_accel = [0.9718633204753299 1.000362430527352 1.002223889080376]
gyro_g_sensitivity = [0 0 0 0 0 0 0 0 0]


# Priors
prior_extrinsic_position = 30
prior_extrinsic_orientation = 40
prior_extrinsic_position_lr = 1e8
prior_extrinsic_orientation_lr = 1e4

prior_time_sync = 1e6
prior_velocity = 1e2
prior_accel_bias = 1e1
prior_gyro_bias = 1e2
prior_rolling_shutter = 1e6


# Other parameters
imu_dt = 0.010806833017712 # seconds

rolling_shutter_time = 0 # seconds

gravity_magnitude = 9.79906

# Sliding window size
max_number_of_frames = 5

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