%YAML:1.0

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

# Left Camera calibration and distortion parameters (OpenCV)
Camera.fx: 190.97847715128717
Camera.fy: 190.9733070521226
Camera.cx: 254.93170605935475
Camera.cy: 256.8974428996504

# Kannala-Brandt distortion parameters
Camera.k1: 0.0034823894022493434
Camera.k2: 0.0007150348452162257
Camera.k3: -0.0020532361418706202
Camera.k4: 0.00020293673591811182

# Right Camera calibration and distortion parameters (OpenCV)
Camera2.fx: 190.44236969414825
Camera2.fy: 190.4344384721956
Camera2.cx: 252.59949716835982
Camera2.cy: 254.91723064636983

# Kannala-Brandt distortion parameters
Camera2.k1: 0.0034003170790442797
Camera2.k2: 0.001766278153469831
Camera2.k3: -0.00266312569781606
Camera2.k4: 0.0003299517423931039

# Transformation matrix from right camera to left camera
#Tlr: !!opencv-matrix
#   rows: 3
#   cols: 4
#   dt: f
#   data: [ 1.0000,    0.0008,    0.0007,    0.1011,
#             -0.0008,    0.9989,    0.0469,    0.0019,
#             -0.0007,   -0.0469,    0.9989,    0.0010]

Tlr: !!opencv-matrix
  rows: 3
  cols: 4
  dt: f
  data: [ 0.999999445773493,   0.000791687752817,   0.000694034010224,   0.101063427414194,
            -0.000823363992158,   0.998899461915674,   0.046895490788700,   0.001946204678584,
            -0.000656143613644,  -0.046896036240590,   0.998899560146304,   0.001015350132563]

# Camera resolution
Camera.width: 512
Camera.height: 512

# Lapping area between images
Camera.lappingBegin: 0
Camera.lappingEnd: 511

Camera2.lappingBegin: 0
Camera2.lappingEnd: 511

# 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

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

Camera.bf: 19.3079

#--------------------------------------------------------------------------------------------
# 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
Viewer.GraphLineWidth: 1
Viewer.PointSize:2
Viewer.CameraSize: 0.05
Viewer.CameraLineWidth: 2
Viewer.ViewpointX: 0
Viewer.ViewpointY: -10
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000