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