%YAML:1.0

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

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: $fx
Camera.fy: $fy
Camera.cx: $cx
Camera.cy: $cy

Camera.k1: $k1
Camera.k2: $k2
Camera.p1: $p1
Camera.p2: $p2
Camera.k3: $k3

Camera.width: $width
Camera.height: $height

# Camera frames per second 
Camera.fps: $fps

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

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

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

# Deptmap values factor 
DepthMapFactor: $DepthMapFactor

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

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

# ORB Extractor: Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: $scaleFactor

# ORB Extractor: Number of levels in the scale pyramid	
ORBextractor.nLevels: $nLevels

# 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: $iniThFAST
ORBextractor.minThFAST: $minThFAST

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