%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "KannalaBrandt8"

# Left Camera calibration and distortion parameters (OpenCV)
Camera.fx: 284.9501953125
Camera.fy: 285.115295410156
Camera.cx: 420.500213623047
Camera.cy: 400.738098144531

# Kannala-Brandt distortion parameters
Camera.k1: -0.00530046410858631
Camera.k2: 0.0423333682119846
Camera.k3: -0.03949885815382
Camera.k4: 0.00682387687265873

# Camera resolution
Camera.width: 848
Camera.height: 800

# Camera frames per second 
Camera.fps: 30.0

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

# Image scale, it changes the image size to be processed (<1.0: reduce, >1.0: increase)
Camera.imageScale: 1.0 #0.7071 # 1/sqrt(2)

# Transformation from body-frame (imu) to left camera
Tbc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [-0.999959, -0.00265193, 0.00870996, 0.0107000041753054, 
          0.00262197, -0.999991, -0.0034493, -1.45519152283669e-11,
         0.00871902, -0.00342632, 0.999956, -1.45519152283669e-11,
          0.0, 0.0, 0.0, 1.0]

# Do not insert KFs when recently lost
InsertKFsWhenLost: 0

# IMU noise (Use those from VINS-mono)
IMU.NoiseGyro: 0.000005148030141 # rad/s^0.5 
IMU.NoiseAcc: 0.000066952452471 # m/s^1.5
IMU.GyroWalk: 0.000000499999999 # rad/s^1.5
IMU.AccWalk: 0.000099999997474 # m/s^2.5
IMU.Frequency: 200

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

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 800 # 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 # 20
ORBextractor.minThFAST: 7 # 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -3.5
Viewer.ViewpointF: 500
Viewer.imageViewScale: 2