%YAML:1.0

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

# Right Camera calibration and distortion parameters (OpenCV)
Camera.fx: 617.201
Camera.fy: 617.362
Camera.cx: 324.637
Camera.cy: 242.462


# distortion parameters
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

# Camera resolution
Camera.width: 640
Camera.height: 480

# 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: 0.5 # 0.5 #0.7071 # 1/sqrt(2)

# Close/Far threshold. Baseline times.
ThDepth: 40.0

# stereo baseline times fx
Camera.bf: 46.01

# Deptmap values factor
DepthMapFactor: 1000.0

# Transformation from body-frame (imu) to left camera
Tbc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [0.999903, -0.0138036, -0.00208099, -0.0202141,
         0.0137985, 0.999902, -0.00243498, 0.00505961,
         0.0021144, 0.00240603, 0.999995, 0.0114047,
         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: 1e-2 # 3 # 2.44e-4 #1e-3 # rad/s^0.5
IMU.NoiseAcc: 1e-1 #2 # 1.47e-3 #1e-2 # m/s^1.5
IMU.GyroWalk: 1e-6 # rad/s^1.5
IMU.AccWalk: 1e-4 # m/s^2.5
IMU.Frequency: 200

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