#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
# Viewer.on: 1 is ON, 0 is OFF
Viewer.on: 1

Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 1
Viewer.LineSize: 1
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

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

#camera matrix:
# [[720.74677588   0.         324.72460102]
# [  0.         720.87434544 238.97483313]
# [  0.           0.           1.        ]]
#distortion coefficients:  [-1.96841029e-02 -5.74293178e-01 -6.78065914e-04  8.34984375e-04 1.59969276e+00]
# PocoX3
#     1250.6         0         0
#          0    1254.8         0
#     978.4    562.1          1.0
#     [0.0936 -0.5403 7.2525e-04 0.0084 0.7632]


# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 1250.6
Camera.fy: 1254.8
Camera.cx: 978.4
Camera.cy: 562.1

Camera.k1: 0.0936
Camera.k2: -0.5403
Camera.p1: 7.2525e-04
Camera.p2: 0.0084
Camera.k3: 0.7632

Camera.width: 1920
Camera.height: 1080

# 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: 0

# Close/Far threshold. Baseline times.
ThDepth: 40.0

# Deptmap values factor
DepthMapFactor: 1.0

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