%YAML:1.0

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

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 974.8409602402362   # 969.4750  974.8409602402362
Camera.fy: 975.2969974293134   # 969.4750  975.2969974293134
Camera.cx: 637.9512716907054   # 643.6190  637.9512716907054
Camera.cy: 482.0369315847473   # 481.4160  482.0369315847473

Camera.k1: -0.31811570871103184         # -0.31811570871103184
Camera.k2: 0.10347911678780099          # 0.10347911678780099
Camera.p1: 0.0009600873384515784        # 0.0009600873384515784
Camera.p2: 0.0020253178045684227        # 0.0020253178045684227
Camera.k3: 0.0                          #

Camera.width: 1280
Camera.height: 960

# Camera frames per second
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 232.6740 # 203.7418 232.6740

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

#--------------------------------------------------------------------------------------------
# System Parameters
#--------------------------------------------------------------------------------------------

# Switch for Dataset (1 for Oxford MultiMotion Dataset, 2 for KITTI dataset, 3...)
ChooseData: 1

# Deptmap values factor
DepthMapFactor: 256.0

# Close/Far Depth threshold
ThDepthBG: 40.0
ThDepthOBJ: 25.0

# Max Tracking Points on Background and Object in each frame
MaxTrackPointBG: 1200
MaxTrackPointOBJ: 800

# Scene Flow Magnitude and Distribution Threshold
SFMgThres: 0.02
SFDsThres: 0.99

# Window Size and Overlapping Size for Local Batch Optimization
WINDOW_SIZE: 20
OVERLAP_SIZE: 4

# Use sampled feature or detected feature for background (1: sampled, 0: detected)
UseSampleFeature: 1

#--------------------------------------------------------------------------------------------
# ORB Parameters (NOTE: only FAST corners are used in this system.)
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 3000

# 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
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7