%YAML:1.0

#--------------------------------------------------------------------------------------------
# System config
#--------------------------------------------------------------------------------------------

# When the variables are commented, the system doesn't load a previous session or not store the current one

# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
# System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"

# The store file is created from the current session, if a file with the same name exists it is deleted
# System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo"

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

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera1.fx: 458.654
Camera1.fy: 457.296
Camera1.cx: 367.215
Camera1.cy: 248.375

Camera1.k1: -0.28340811
Camera1.k2: 0.07395907
Camera1.p1: 0.00019359
Camera1.p2: 1.76187114e-05

Camera2.fx: 457.587
Camera2.fy: 456.134
Camera2.cx: 379.999
Camera2.cy: 255.238

Camera2.k1: -0.28368365
Camera2.k2: 0.07451284
Camera2.p1: -0.00010473
Camera2.p2: -3.55590700e-05

Camera.width: 752
Camera.height: 480

# 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.
Stereo.ThDepth: 60.0
Stereo.T_c1_c2: !!opencv-matrix
  rows: 4
  cols: 4
  dt: f
  data: [0.999997256477797,-0.002317135723275,-0.000343393120620,0.110074137800478,
         0.002312067192432,0.999898048507103,-0.014090668452683,-0.000156612054392,
         0.000376008102320,0.014089835846691,0.999900662638081,0.000889382785432,
         0,0,0,1.000000000000000]

# Transformation from camera 0 to body-frame (imu)
IMU.T_b_c1: !!opencv-matrix
  rows: 4
  cols: 4
  dt: f
  data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
         0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
         -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
         0.0, 0.0, 0.0, 1.0]

# IMU noise
IMU.NoiseGyro: 1.7e-04 # 1.6968e-04
IMU.NoiseAcc: 2.0e-03 # 2.0000e-3
IMU.GyroWalk: 1.9393e-05
IMU.AccWalk: 3.e-03 # 3.0000e-3
IMU.Frequency: 200.0

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

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1200

# 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: -1.8
Viewer.ViewpointF: 500.0
Viewer.imageViewScale: 1.0