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pose_gen.ini
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pose_gen.ini
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# -------------------------------------------------------------------
# Config file for the "corner-calib" application:
# Generation of random poses in simulation mode
# -------------------------------------------------------------------
[Trihedron]
min_d = 0.5 // Minimum distance to origin to place the pose
max_d = 3 // Maximum distance to origin to place the pose
min_ang = 10 // Minimum angle between the translation and the canonical planes
# Rotation additions are done in relative axes of camera in order Z-X-Y
ang_z_max = deg2rad(180) // Max 1st relative rotation random addition wrt Camera Z axis
ang_x_max = deg2rad(30) // Max 2nd relative rotation random addition wrt Camera X axis (should be ~1/3 FOVv) 30
ang_y_max = deg2rad(15) // Max 3rd relative rotation random addition wrt Camera Y axis (should be ~1/3 FOVh) 45
device = 'Camera' // The device for which random poses are being generated
[Corner]
min_d = 2 // Minimum distance to origin to place the pose
max_d = 3 // Maximum distance to origin to place the pose
min_ang = 30 // Minimum angle between the translation and the canonical planes
# Rotation additions are done in relative axes of camera in order Z-X-Y
ang_z_max = pi/6 // Max 1st relative rotation random addition wrt Camera Z axis
ang_x_max = deg2rad(5) // Max 2nd relative rotation random addition wrt Camera X axis (should be ~1/3 FOVv)
ang_y_max = deg2rad(10) // Max 3rd relative rotation random addition wrt Camera Y axis (should be ~1/3 FOVh)
device = 'Lidar' // The device for which random poses are being generated
[Checkerboard]
min_d = 1 // Minimum distance to origin to place the pose
max_d = 2 // Maximum distance to origin to place the pose
min_ang = 10 // Minimum angle between the translation and the canonical planes
# Rotation additions are done in relative axes of camera in order X-Z-X
ang_z_max = deg2rad(10) // Max 1st relative rotation random addition wrt Camera Z axis
ang_x_max = deg2rad(5) // Max 2nd relative rotation random addition wrt Camera X axis (should be ~1/3 FOVv)
ang_y_max = deg2rad(25) // Max 3rd relative rotation random addition wrt Camera Y axis (should be ~1/3 FOVh)
device = 'Lidar' // The device for which random poses are being generated
[Vanishing]
min_d = 1 // Minimum distance to origin to place the pose
max_d = 5 // Maximum distance to origin to place the pose
min_ang = 10 // Minimum angle between the translation and the canonical planes
# Rotation additions are done in relative axes of camera in order Z-X-Y
ang_z_max = deg2rad(180) // Max 1st relative rotation random addition wrt Camera Z axis
ang_x_max = deg2rad(20) // Max 2nd relative rotation random addition wrt Camera X axis (should be ~1/3 FOVv) 30
ang_y_max = deg2rad(15) // Max 3rd relative rotation random addition wrt Camera Y axis (should be ~1/3 FOVh) 45
device = 'Camera' // The device for which random poses are being generated