%YAML:1.0

#--------------------------------------------------------------------------------------------
# System config
#--------------------------------------------------------------------------------------------

# When the variables are commented, the system doesn't load a previous session or not store the current one

# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"

# The store file is created from the current session, if a file with the same name exists it is deleted
#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"

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

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera1.fx: 458.654
Camera1.fy: 457.296
Camera1.cx: 367.215
Camera1.cy: 248.375

Camera1.k1: -0.28340811
Camera1.k2: 0.07395907
Camera1.p1: 0.00019359
Camera1.p2: 1.76187114e-05

Camera.width: 752
Camera.height: 480

Camera.newWidth: 600
Camera.newHeight: 350

# 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

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

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

# 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: -1.8
Viewer.ViewpointF: 500.0