euroc_data.yaml

%YAML:1.0
# This is a configuration file for StructVIO written 
# by Danping Zou,Lab of Navigation and Location-based Services(NLS), Shanghai Jiao Tong University.
# Email:danping_zou@sjtu.edu.cn
# 
# maximum number of poses kept in the filter state
max_frame_num: 25
# maximun number of structure lines in each direction
max_line_num_x: 10
max_line_num_y: 10
max_line_num_z: 10
# threshold and standard deviation of feature noises
feature_thres: 3.0
sigma_seg: 4.2
sigma_im: 2.2
point_outlier_thres: 3.0
line_outlier_thres: 3.0
# initial inverse depth value
invdepth0: 0.1
#camera intrinsic marix
K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [458.654,0,367.215,0,457.296,248.375,0,0,1]
#distortion parameters 
kc: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0]
#image resolution
image_width: 752
image_height: 480
#misalignment parameters between gyro and acc
R_ga: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1,0,0,0,1,0,0,0,1]
#gyro parameters
gyro_M: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1,0,0,0,1,0,0,0,1]
#acc parameters
acc_M: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1,0,0,0,1,0,0,0,1]
#gyro bias
gyro_bias: !!opencv-matrix
   rows: 1
   cols: 3
   dt: d
   data: [ 0., 0., 0. ]
#acc bias
acc_bias: !!opencv-matrix
   rows: 1
   cols: 3
   dt: d
   data: [0,0,0]
#IMU noise parameters
gyro_noise_std: 2.0e-03
acc_noise_std: 0.2
gyro_bias_random_walk_noise_std: 2.0e-04
acc_bias_random_walk_noise_std: 5e-03
#transformation from the camera frame to the IMU frame (rotation+translation)
imu_cam_trans: !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [ 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949]