%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
# Camera.fx: 526.233931229593
# Camera.fy: 526.1938724332691
# Camera.cx: 473.80541695901104
# Camera.cy: 275.249658856064

Camera.fx: 610.048
Camera.fy: 609.89032
Camera.cx: 326.73779
Camera.cy: 238.26216

# Camera.k1: -0.03603598486102012
# Camera.k2: 0.41732302713350355
# Camera.p1: -0.0005421350775844742
# Camera.p2: 0.0015460797558735082
# Camera.k3: -0.9703816321761886

Camera.k1: 0.262383
Camera.k2: -0.953104
Camera.p1: -0.005358
Camera.p2: 0.002628
Camera.k3: 1.163314

Camera.width: 640
Camera.height: 480

# Camera frames per second 
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf:  40.0

# 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

# Deptmap values factor 
DepthMapFactor: 1000.0

#--------------------------------------------------------------------------------------------
# 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: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500