/**
 * This file contains configuration that's specific to voxl-lepton-tracker.
 *
 * Per camera, need:
 * cami_enable: en or disable cam
 * cami_name: pipe name
 * cami_intrinsics_path: path to intrinsics file
 * cami_mode: MONO, STEREO, STEREO_LEFT_ONLY, STEREO_RIGHT_ONLY
 * cami_extrinsics_first: extrinsics name
 * cami_extrinsics_second: same as above but only applies to stereo pairs
 *
 * For the tracker, need:
 * num_features_to_track: n per cam
 * en_gyro: enable gyro based predictions
 * imu_name: only needed if en_gyro
 * grid_x: grid dimensions in x direction
 * grid_y: grid dimensions in y direction
 * min_pix_dist: minimum pixel distance between feature points
 * pyramid_levels: levels for img pyramid (how many layers to track across)
 * window_size: will be the same for x and y, search window for flow calcs
 * max_angular_rate_before_blur: max allowed angular rate around exposure period
 * of frame for it to be used, otherwise discarded. Set negative to ignore
 * en_flowback: enable optical flow flowback check
 * flowback_pixel_max: max pixel change for flowback check, if enabled
 * en_refinement: enable subpixel refinement during initial extraction
 * en_blur: enable blur on images before optical flow and feature extraction
 * blur_size: size of blur kernel in pixels, should be odd
 * lk_count: max number of iterations for lk
 * lk_eps: desired accuracy for lk
 * hgraphy_ransac_threshold: maximum allowed reprojection error to treat a point pair as an inlier in normalized coordinates
 * hgraphy_max_iters: the maximum number of ransac iterations
 * hgraphy_confidence: confidence level, between 0 and 1
 * hgraphy_min_pts: minimum number of matched points required to run findHomography, absolute minimum is 4
 * en_logging: enable publishing a logging packet via mpa
 * convert_8bit_method: method for converting from 16 to 8 bit images. 0 uses just current image, 1 uses current and previous image
 * min_temp_delta: minimum temperature difference to convert from 16 bit to 8 bit.  Units of 0.01 deg C
 * fast_threshold: FAST threshold on difference between intensity of the central pixel and pixels of a circle around this pixel
 *
 */
{
	"cam0_enable":	1,
	"cam0_name":	"lepton0_16raw",
	"cam0_intrinsics_path": "/usr/share/modalai/voxl-lepton-tracker/generic_lepton_intrinsics.yml",
	"cam0_mode":	"MONO",
	"cam0_extrinsics_first":	"lepton0_raw",
	"cam0_extrinsics_second":	"",
	"cam1_enable":	0,
	"cam2_enable":	0,
	"cam3_enable":	0,
	"imu_name":	"imu_apps",
	"num_features_to_track":	100,
	"grid_x":	1,
	"grid_y":	1,
	"min_pix_dist":	8,
	"pyramid_levels":	2,
	"window_size":	10,
	"en_gyro":	false,
	"en_descriptors":	false,
	"max_angular_rate_before_blur":	-1,
	"en_flowback":	true,
	"flowback_pixel_max": 1.5,
	"en_refinement":	true,
	"en_blur": true,
	"blur_size": 3,
	"lk_count": 30,
	"lk_eps": 0.01,
	"hgraphy_ransac_threshold": 0.02,
	"hgraphy_max_iters": 100,
	"hgraphy_confidence": 0.99,
	"hgraphy_min_pts": 6,
	"en_logging": true,
	"convert_8bit_method": 1,
	"min_temp_delta": 400,
	"fast_threshold": 10
}
