%YAML:1.0

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

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera1.fx: 816.9037
Camera1.fy: 811.5680
Camera1.cx: 608.5072
Camera1.cy: 263.4759

Camera.fx: 816.9037
Camera.fy: 811.5680
Camera.cx: 608.5072
Camera.cy: 263.4759

# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
#Camera.bFishEye: 1
Camera.k1: -0.056143027782782
Camera.k2: 0.139525632030074
#Camera.k3: -0.080878168794740
Camera.p1: -0.001215590686538
Camera.p2: -9.728139470848294e-04

# Second camera
#Camera2.type: "PinHole"
Camera2.fx: 8.137820553958778e+02
Camera2.fy: 8.085216557426838e+02
Camera2.cx: 6.138641953932292e+02
Camera2.cy: 2.494104934865211e+02

# Equidistant distortion 0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182
#Camera.bFishEye: 1
Camera2.k1: -0.054921981757479
Camera2.k2: 0.142436574286058
#Camera2.k3: -0.085665408330633
Camera2.p1: 7.541230501084140e-05
Camera2.p1: -6.756052742429136e-04

Tlr: !!opencv-matrix
  rows: 3
  cols: 4
  dt: f
  data: [ 0.999991433056271,   0.002082719758761,   0.003577162628705,   -4.751436000507748e-1,
            -0.002066281899364,   0.999987318309473,   -0.004592787752592,   -1.144594387276745e-3,
            -0.003586682754036,  0.004585356980047,   0.999983054960527,   2.012928530231533e-3]
    
# Camera resolution
Camera.width: 1280
Camera.height: 560

# Lapping area between images
Camera.lappingBegin: 0
Camera.lappingEnd: 1279

Camera2.lappingBegin: 0
Camera2.lappingEnd: 1279

# 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

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

Camera.bf: 388.151174248813

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

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1250 # 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

#--------------------------------------------------------------------------------------------
# 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: -3.5
Viewer.ViewpointF: 500.0

#--------------------------------------------------------------------------------------------
# Atlas Parameters
#--------------------------------------------------------------------------------------------
#System.LoadAtlasFromFile: "ComplexUrban32"
System.SaveAtlasToFile: "ComplexUrban32"