%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"

Camera.type: "KannalaBrandt8"

# Camera calibration and distortion parameters (OpenCV) 
Camera1.fx: 190.978477
Camera1.fy: 190.973307
Camera1.cx: 254.931706
Camera1.cy: 256.897442

# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
#Camera.bFishEye: 1
Camera1.k1: 0.003482389402
Camera1.k2: 0.000715034845
Camera1.k3: -0.002053236141
Camera1.k4: 0.000202936736
    
# Camera resolution
Camera.width: 512
Camera.height: 512

# Camera frames per second 
Camera.fps: 20

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Transformation from body-frame (imu) to camera
IMU.T_b_c1: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [-0.9995250378696743, 0.0075019185074052044, -0.02989013031643309, 0.045574835649698026, 
          0.029615343885863205, -0.03439736061393144, -0.998969345370175, -0.071161801837997044,
         -0.008522328211654736, -0.9993800792498829, 0.03415885127385616, -0.044681254117144367,
          0.0, 0.0, 0.0, 1.0]

# IMU noise (Use those from VINS-mono)
IMU.NoiseGyro: 0.00016 # rad/s^0.5 
IMU.NoiseAcc: 0.0028 # m/s^1.5
IMU.GyroWalk: 0.000022 # rad/s^1.5
IMU.AccWalk: 0.00086 # m/s^2.5
IMU.Frequency: 200.0


#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1500 # Tested with 1250

# ORB Extractor: Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid	
ORBextractor.nLevels: 8

# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1.0
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2.0
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -3.5
Viewer.ViewpointF: 500.0