# -------------------------------------------------------------------
#  Config file for the `rawlog-grabber` MRPT application.
#  Usage: 
#      rawlog-grabber CONFIG_FILE.ini
#
#  Each section `[XXXXX]` but `[global]` defines a dedicated thread where a 
#  sensor-specific driver runs. Each thread collects observations in parallel 
#  and the main thread sort them by timestamp and dumps them to a RAWLOG file.
#  The driver for each thread is set with the field `driver`, which must
#  match the name of any of the classes in mrpt::hwdrivers implementing 
#  a CGenericSensor.
#
# Read more online: 
# https://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

# =======================================================
#  Section: Global settings to the application   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= ./data_kinect

# Milliseconds between thread launches
time_between_launches	= 1000

use_sensoryframes	= 0

GRABBER_PERIOD_MS	= 1000

# ** IMPORTANT **: When grabbing from a 3D camera, disable GZ compression to avoid 
# a bottleneck compressing the 3D point clouds in real-time!
rawlog_GZ_compress_level  = 0   // 0: No compress, 1: fastest (default), 9: best 

# =======================================================
#  SENSOR: Kinect
#   
# =======================================================
[KINECT]
# ** IMPORTANT **: See the note on "rawlog_GZ_compress_level" above
driver                         = CKinect
process_rate                   = 200		// Hz (max)

grab_decimation                = 4    // Grab 1 out of N only.

sensorLabel  = KINECT         // A text description
preview_window  = true        // Show a window with a preview of the grabbed data in real-time

device_number   = 0           // Device index to open (0:first Kinect, 1:second Kinect,...)

grab_image      = true        // Grab the RGB image channel? (Default=true)
grab_depth      = true        // Grab the depth channel? (Default=true)
grab_3D_points  = true        // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
grab_IMU        = true        // Grab the accelerometers? (Default=true)

video_channel   = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR

# Optional: Set the initial tilt angle of Kinect: upon initialization, the motor is sent a command to 
#            rotate to this angle (in degrees). Note: You must be aware of the tilt when interpreting the sensor readings.
initial_tilt_angle = 0

pose_x                         = 0	// Camera position on the robot (meters)
pose_y                         = 0
pose_z                         = 0
pose_yaw                       = 0	// Angles in degrees
pose_pitch                     = 0
pose_roll                      = 0

# Kinect sensor calibration:
# See https://www.mrpt.org/Kinect_and_MRPT

# Left/Depth camera
[KINECT_LEFT]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)

resolution = [640 488]
cx         = 314.649173
cy         = 240.160459
fx         = 572.882768
fy         = 542.739980
dist       = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]

# Right/RGB camera
[KINECT_RIGHT]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)

resolution = [640 480]
cx         = 322.515987
cy         = 259.055966
fx         = 521.179233
fy         = 493.033034
dist       = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]

# Relative pose of the right camera wrt to the left camera:
# This assumes that both camera frames are such that +Z points
# forwards, and +X and +Y to the right and downwards.
# For the actual coordinates employed in 3D observations, see figure in:
# https://reference.mrpt.org/devel/classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html
[KINECT_LEFT2RIGHT_POSE]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)

pose_quaternion      = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693]