cal_data.yaml

data:
  - pose: poses/0.yaml
    image: images/0.png
  - pose: poses/1.yaml
    image: images/1.png
  - pose: poses/10.yaml
    image: images/10.png
  - pose: poses/11.yaml
    image: images/11.png
  - pose: poses/12.yaml
    image: images/12.png
  - pose: poses/13.yaml
    image: images/13.png
  - pose: poses/14.yaml
    image: images/14.png
  - pose: poses/2.yaml
    image: images/2.png
  - pose: poses/3.yaml
    image: images/3.png
  - pose: poses/4.yaml
    image: images/4.png
  - pose: poses/5.yaml
    image: images/5.png
  - pose: poses/6.yaml
    image: images/6.png
  - pose: poses/7.yaml
    image: images/7.png
  - pose: poses/8.yaml
    image: images/8.png
  - pose: poses/9.yaml
    image: images/9.png

# Nominal Kinect sensor camera intrinsic parameters
intrinsics:
  fx: 550.0 # pixels
  fy: 550.0 # pixels
  cx: 320.0
  cy: 240.0

# Pose guesses
camera_mount_to_camera_guess:
  x: 0.0  # Note: Until I fix this YOU NEED to make this a DOUBLE! Don't write just '0'.
  y: 0.0
  z: 0.0
  qx: 0.0
  qy: 0.0
  qz: -0.707107
  qw: 0.707107
target_mount_to_target_guess:
  x: 1.0
  y: 0.0
  z: 0.0
  qx: 0.0
  qy: 0.0
  qz: -0.707107
  qw: 0.707107

# 10x10 modified circle grid target finder
target_finder:
  type: ModifiedCircleGridTargetFinder
  rows: 10
  cols: 10
  spacing: 0.0254 # (meters between dot centers)
  circle_detector_params:
    minThreshold: 20
    maxThreshold: 220
    nThresholds: 20

    minRepeatability: 3
    circleInclusionRadius: 5
    maxRadiusDiff: 5

    maxAverageEllipseError: 0.02

    filterByColor: true
    circleColor: 0

    filterByArea: true
    minArea: 25.0
    maxArea: 5000.0

    filterByCircularity: false
    minCircularity: 0.8
    maxCircularity: 99999999.0

    filterByInertia: false
    minInertiaRatio: 0.1
    maxInertiaRatio: 99999999.0

    filterByConvexity: true
    minConvexity: 0.95
    maxConvexity: 99999999.0

# Other parameters
homography_threshold: 1.0
static_camera: false