%YAML:1.0

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

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 190.978477 # 190.97847715128717
Camera.fy: 190.973307 # 190.9733070521226
Camera.cx: 254.931706 # 254.93170605935475
Camera.cy: 256.897442 # 256.8974428996504

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

# Camera frames per second 
Camera.fps: 20.0

# 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: 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
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 # -1.8
Viewer.ViewpointF: 500