%YAML:1.0

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

Camera.type: "KannalaBrandt8"

# 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: -0.0561430278
Camera.k2: 0.139525632
Camera.k3: 0.0012155906
Camera.k4: -0.0009728138
    
# Camera resolution
Camera.width: 1280
Camera.height: 560

# 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

#--------------------------------------------------------------------------------------------
# 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"