3dpcp/.svn/pristine/b3/b3a866ba65191d64e72a79cb58ef0332acdb182a.svn-base

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2012-09-16 12:33:11 +00:00
# UI
gl = true;
ui = true;
offline = true;
#offline = false;
# PMD Settings
ip = "192.168.0.69";
plugin = "../o3d.L32.pcp";
intrinsicPMD = "../intrinsic-pmd-6x4.xml";
distortionPMD = "../distortion-pmd-6x4.xml";
pmdSize: {
width = 64;
height = 50;
};
# Camera settings
cameraID = 1;
tracking: {
max = 100;
min = 50;
quality = 0.9;
minDist = 20;
winSize = 20;
};
intrinsicCam = "../intrinsic-cam-6x4.xml";
distortionCam = "../distortion-cam-6x4.xml";
essentialMatrix: {
rotation = "../essential-rot.xml";
translation = "../essential-trn.xml";
};
# Outliers detection
# based on Huhle, B., Jenke, P. and Straßer, W. (2007)
# On-the-Fly Scene Acquisition with a Handy Multisensor-System,
# Int. J. of Intelligent Systems Technologies and Ap-plications, Vol. x, No. x, pp.xxxxxx.
# see section 2.2, page 4
# use negative threshold to disable
outliersRemoval: {
sigmaDepth = 17.0;
threshold = -0.1;
sigmaColor = 42.0;
};
# Pose Estimation
# When error is more then max it's consideret that pose is not estimated
maxError= 0.3;
# Error is in METERS
minPts = 3;
icp: {
verbose = false;
method = "helix";
# metod can be one of {apx, helix, svd, ortho, quat}
};
synchronous = false;
hybrid = true;
savePoses = false;
ransac: {
min = 30;
# minimum percents (!) of inlier points
maxIter = 10000;
errorThresh = 0.005;
};
# Point cloud and images history size, set 0 to make infinite
historyLen = 1;
# Offline setts
camVideoFile = "../datasets/calib.avi";
pmdIFile = "../datasets/calib.irv";
pmdAFile = "../datasets/calib.arv";
pmd3DFile = "../datasets/calib.3dp";
headersFile = "../datasets/calib.head";