setting-slam-exp-1-fast.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: 500
  thresh_rot: 0.2
# Solver configure
solver:
  init_thresh_locallp: 100
# Error coefficients
error:
  odo:
    stdratio_lin: 0.01
    stdratio_rot: 0.01
    stdmin_lin: 0.01
    stdmin_rot: 1.745e-4
  mk:
    stdratio_x: 0.01
    stdratio_y: 0.01
    stdratio_z: 0.02
    std_imgu: 1
    std_imgv: 1
# Initial guess
init:
  rvec_b_c:
    - [0.001, 0.001, 1.57]
  tvec_b_c: 
    - [0.0, 0.0, 0.0]
truth:
  rvec_b_c:
    - [0.001, 0.001, 0.001]
  tvec_b_c: 
    - [0.0, 0.0, 0.0]
# Camera intrinsics
camera:
  image_width: 640
  image_height: 480
  camera_matrix:
    - [1118.51449, 0., 348.10129]
    - [0., 1120.60939,  195.92066]
    - [0., 0., 1.]
  distortion_coefficients:
    - [ -0.05909, -0.31834, -0.00852, 0.00321, 0.00000 ]
# Aruco
aruco:
  size: 127
  tvec_m_pt1:
    - [-63.5, 0, 63.5]
  tvec_m_pt2:
    - [-63.5, 0, -63.5]
  tvec_m_pt3:
    - [63.5, 0, -63.5]
  tvec_m_pt4:
    - [63.5, 0, 63.5]