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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "PinHole"
# Right Camera calibration and distortion parameters (OpenCV)
#640 x 480
Camera1.fx: 614.3170166015625
Camera1.fy: 614.9486694335938
Camera1.cx: 315.5247497558594
Camera1.cy: 230.0548858642578
#848 x 480
#Camera.fx: 604.104064941406
#Camera.fy: 602.843811035156
#Camera.cx: 421.326568603516
#Camera.cy: 240.484176635742
# distortion parameters
Camera1.k1: 0.0
Camera1.k2: 0.0
Camera1.p1: 0.0
Camera1.p2: 0.0
# Camera resolution
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
#Camera.bf: 30.205
# Close/Far threshold. Baseline times.
Stereo.ThDepth: 40.0
Stereo.b: 0.05
# Depth map values factor
RGBD.DepthMapFactor: 1000.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 4000
# 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
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