%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 858.08891142058
Camera.fy: 858.08891142058
Camera.cx: 599.4950790405273
Camera.cy: 344.66563415527344

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

Camera.height: 720
Camera.width: 1280

# Camera frames per second
Camera.fps: 60.0

# stereo baseline times fx
# Spiri baseline = 53mm = 0.053m
Camera.bf: 45.4787123053

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

# Close/Far threshold. Baseline times.
ThDepth: 35

#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
# Camera.fx, .fy, etc must be the same as in LEFT.P
#--------------------------------------------------------------------------------------------

LEFT.height: 720
LEFT.width: 1280
LEFT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [-0.38274884059323255, 0.13882784820394012, 0.0013228079981012287, 0.000610515166596169, 0.0]
LEFT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [872.0827132010173, 0.0, 629.146800831531, 0.0, 872.9486851144557, 329.7833373150439, 0.0, 0.0, 1.0]
LEFT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.9998422733068986, -0.007605901683869659, 0.016049260670464208, 0.007604212038624664, 0.9999710737331147, 0.0001663018737299101, -0.016050061300968175, -4.4233662283887984e-05, 0.9998711884916068]
LEFT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [858.08891142058, 0.0, 599.4950790405273, 0.0, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]

RIGHT.height: 720
RIGHT.width: 1280
RIGHT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [-0.37613139424849784, 0.12947511985930749, 0.0001911664252283371, 0.00020105328605981988, 0.0]
RIGHT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [868.0090164746218, 0.0, 627.0717114982791, 0.0, 868.6735344383518, 357.03758653892595, 0.0, 0.0, 1.0]
RIGHT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.9995325381102218, 0.00837959770719308, 0.029402170008415367, -0.00837650207609846, 0.9999648903939145, -0.00022845668221993547, -0.02940305208489884, -1.7937450689705826e-05, 0.9995676366341303]
RIGHT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [858.08891142058, 0.0, 599.4950790405273, -430.0724725519876, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]

#--------------------------------------------------------------------------------------------
# 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
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