From 0a23fe2d10ba53a158a612f90c559898c74f3102 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 19 Feb 2021 18:37:59 +0100
Subject: [PATCH] Update camera yaml

---
 config/adc_car/basler_camera_sim_config.yaml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/config/adc_car/basler_camera_sim_config.yaml b/config/adc_car/basler_camera_sim_config.yaml
index 7b61666..23ecf98 100644
--- a/config/adc_car/basler_camera_sim_config.yaml
+++ b/config/adc_car/basler_camera_sim_config.yaml
@@ -19,15 +19,15 @@ distortion_T1: 0.0
 distortion_T2: 0.0
 
 ### wideangle camera
-lens_type: custom
+lens_type: custom # gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom
 # when lens_type is custom
 ## manually defined mapping function r = c1*f*fun(theta/c2 + c3)
 ## More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
-lens_custom_function_c1:  1.05 #linear scaling
-lens_custom_function_c2:  4 #angle scaling
+lens_custom_function_c1:  2.0 #linear scaling
+lens_custom_function_c2:  2.0 #angle scaling
 lens_custom_function_f:   1.0 #scaling parameter
 lens_custom_function_fun: tan #sin,tan,id
 
-lens_scale_to_hfov:    true #if it is set to `true` your horizontal FOV will ramain as defined, othervise it depends on lens type and custom function, if there is one
-lens_cutoff_angle:     3.1415 # clip everything that is outside of this angle
-lens_env_texture_size: 512 # resolution of the cubemap texture, the highter it is - the sharper is your image
+lens_scale_to_hfov:    true #if it is set to `true` your horizontal FOV will remain as defined, othervise it depends on lens type and custom function, if there is one
+lens_cutoff_angle:     3.14159 # clip everything that is outside of this angle
+lens_env_texture_size: 1024 # resolution of the cubemap texture, the highter it is, the sharper is your image
-- 
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