%YAML:1.0

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

Camera.type: "PinHole"

Camera1.fx: 278.66723066149086
Camera1.fy: 278.48991409740296
Camera1.cx: 319.75221200593535
Camera1.cy: 241.96858910358173

Camera1.k1: -0.013721808247486035
Camera1.k2: 0.020727425669427896
Camera1.p1: -0.012786476702685545
Camera1.p2: 0.0025242267320687625

Camera2.fx: 277.61640629770613
Camera2.fy: 277.63749695723294
Camera2.cx: 314.8944703346039
Camera2.cy: 236.04310050462587

Camera2.k1: -0.008456929295619607
Camera2.k2: 0.011407590938612062
Camera2.p1: -0.006951788325762078
Camera2.p2: 0.0015368127092821786

Camera.width: 640
Camera.height: 480

# Camera frames per second 
Camera.fps: 30

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

# Close/Far threshold. Baseline times.
Stereo.ThDepth: 60.0
Stereo.T_c1_c2: !!opencv-matrix
  rows: 4
  cols: 4
  dt: f
  data: [ 9.99805302e-01,   -1.11477581e-02,   -1.62814662e-02,   7.96159451e-02,
            1.11977385e-02,   9.99932857e-01,   2.98183487e-03,   1.45903657e-04,
            1.62471322e-02, -3.16356991e-03,   9.99863002e-01,   8.53393252e-04,
            0, 0, 0, 1.000000000000000]


#IMU.T_b_c1: !!opencv-matrix
#  rows: 4
#  cols: 4
#  dt: f
#  data: [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517,
#         0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05,
#         0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853,
#         0.0, 0.0, 0.0, 1.0]

# Transformation from camera 0 to body-frame (imu)               
IMU.T_b_c1: !!opencv-matrix
  rows: 4
  cols: 4
  dt: f
  data: [-2.82287874e-02, 1.44012519e-02, 9.99497744e-01, 1.10212057e-03,
         -9.99601488e-01, -4.18870833e-04, -2.82256821e-02, 2.17014187e-02,
         1.21752948e-05, -9.99896209e-01, 1.44073370e-02, -5.92788823e-05,
         0.0, 0.0, 0.0, 1.0]

# IMU noise
IMU.NoiseGyro: 0.05 
IMU.NoiseAcc: 0.1 
IMU.GyroWalk: 4.0e-05
IMU.AccWalk: 0.002
IMU.Frequency: 500.0

#--------------------------------------------------------------------------------------------
# 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: ""