CONFIG.md

Config documentation

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Global variables

• image_topic - topic name for the input image
• mavros_altitude_topic - topic name for the altitude from mavros
• vis_infer - if true, visualization topics will be published

image_topic: /camera/rgb/image_raw
mavros_altitude_topic: /mavros/altitude
vis_infer: True

Camera parameters

• resolution - camera input resolution in pixels
• angles - camera angles in degrees (horizontal, vertical)

camera:
  resolution: [1920, 1080]
  angles: [69.0, 54.0]

Landing target detector model parameters

• path - relative path to the model
• onnx_provider - ONNX provider (tensorrt (jetson), cuda or cpu)
• conf_thresh - confidence threshold for the detector

density_estimator:
  path: './data/density_estimator.onnx'
  onnx_provider: cpu # tensorrt, cuda or cpu
  conf_thresh: 0.6

Region of interest keypoionts model parameters

• path - relative path to the model
• onnx_provider - ONNX provider (tensorrt (jetson), cuda or cpu)
• conf_thresh - confidence threshold for the detector
• std_tresh - standard deviation threshold for the detector

keypoints_detector:
  path: './data/keypoints_detector.onnx'
  onnx_provider: cpu # tensorrt, cuda or cpu
  conf_thresh: 0.6
  std_thresh: 1e-3

Rotation estimation algorithm parameters

• camera_matrix - camera matrix (3x3) from the camera calibration
• distortion_coefficients - distortion coefficients (1x5) from the camera calibration
• target_real_model - real model of the landing target (3x4) in meters

rotation_estimator:
  camera_matrix: [
    [1.44273560e+03, 0.00000000e+00, 960],
    [0.00000000e+00, 1.44273560e+03, 540],
    [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]
  ]
  dist_coeffs: [
    [ 8.94706541e-02, -4.60232377e-02,  7.07396345e-03, -2.76138997e-04, -2.76970285e-01]
  ]
  target_real_model: [
    [0.0, 0.0, 0.0], #middle
    [0.0, -0.227, 0.0], #up
    [0.204, 0.116, 0.0], #right
    [-0.204, 0.116, 0.0], #left      
  ]

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