camera:
  names:
    left: LeftEye
    right: RightEye
  intrinsic:
    left:
      fx: 3565.41112619664
      fy: 3564.05573194168
      cx: 1233.69545638269
      cy: 1025.51713185245
      k0: -0.0520040229813935
      k1: 0.0398974773143781
      width: 2448
      height: 2048
    right:
      fx: 3571.67418317616
      fy: 3570.36935016201
      cx: 1222.10981440059
      cy: 1034.19592532512
      k0: -0.0760010312471698
      k1: 0.196624456130940
      width: 2448
      height: 2048
  stereo_trans:
    tx: -65.3265350213620
    ty: 0.245313839615459
    tz: -0.508569900882309
    qw: 0.999987680292989
    qx: -0.000428742826329354
    qy: -0.00395921570373319
    qz: -0.00296311539549921
  capture:
    frame_rate: 40
    expo_time_ms: 12
    gain_db: 20

main_window:
  width: 800
  height: 600

opengl:
  shader_dir: /home/tpx/project/RemoteAR3/src/render/shader

output:
  width: 1920
  height: 1080
  hevc_bitrate: 5 # Mbps
  jpeg_quality: 15

sender:
  mtu: 1400
  port: 5279
  parity: 0.2

sophiar:
  config: ./sophiar_config.json
  left_camera_trans_var: left_camera_in_tracker_denoised
  right_camera_trans_var: right_camera_in_tracker_denoised
  probe_model: ./models/Probe.stl
  augment:
    - name: Bone
      trans_var: femur_in_tracker_denoised
      model_file: /home/tpx/data/20230303_TransCut/mandible.stl
      registration:
        collect_obj: point_picker_in_femur_ref
        collect_var: picked_point_in_femur_ref
        target_var: femur_in_femur_ref
        probe_var: probe_in_femur
    - name: Plan
      trans_var: femur_in_tracker_denoised
      model_file: /home/tpx/data/20230303_TransCut/mandible_path.stl
      background: Bone