setting-gf-exp-d.yml

# YAML1.0
# Configuration file for calib-slam solver
# Path of data
path:
  fold: C:\Workspace\Data\cuhksz-2016.3.15\r2-rightback-bidir-mk127-2016031520
  markfilename: Mk.rec
  odofilename: Odo.rec
# Prune threshold
prune:
  thresh_lin: 400
  thresh_rot: 0.1745
# Solver configure
solver:
  init_thresh_locallp: 20
# Error coefficients
error:
  odo:
    stdratio_lin: 0.01
    stdratio_rot: 0.002
    stdmin_lin: 0.01
    stdmin_rot: 1.745e-4
  mk:
    stdratio_x: 0.002
    stdratio_y: 0.002
    stdratio_z: 0.01
    std_imgu: 1
    std_imgv: 1
# Initial guess
init:
  rvec_b_c:
    - [-0, -2.2, 2.2]
  tvec_b_c: 
    - [100, 0, 0]
truth:
  rvec_b_c:
    - [-0.42347 -1.9546 2.0159]
  tvec_b_c: 
    - [173.3339 -275.1781 0]
# Camera intrinsics
camera:
  image_width: 640
  image_height: 480
  camera_matrix:
    - [500, 0., 320]
    - [0., 500, 240]
    - [0., 0., 1.]
  distortion_coefficients:
    - [0, 0, 0, 0, 0]
# Aruco
aruco:
  size: 200
  tvec_m_pt1:
    - [-100, 0, 100]
  tvec_m_pt2:
    - [-100, 0, -100]
  tvec_m_pt3:
    - [100, 0, -100]
  tvec_m_pt4:
    - [100, 0, 100]