[Camera]
imgRate=5

[Core]
Bayes\FullPredictionUpdate=true
Bayes\PredictionLC=0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23
Bayes\VirtualPlacePriorThr=0.9
DbSqlite3\CacheSize=10000
DbSqlite3\InMemory=true
DbSqlite3\JournalMode=3
DbSqlite3\Synchronous=0
DbSqlite3\TempStore=2
Kp\BadSignRatio=0.2
Kp\DetectorStrategy=0
Kp\DictionaryPath=
Kp\IncrementalDictionary=true
Kp\MaxLeafs=64
Kp\MinDist=0.05
Kp\MinDistUsed=false
Kp\NNStrategy=1
Kp\NndrRatio=0.8
Kp\NndrUsed=true
Kp\Parallelized=true
Kp\PublishKeypoints=true
Kp\RoiRatios=0.0 0.0 0.0 0.0
Kp\TfIdfLikelihoodUsed=false
Kp\WordsPerImage=400
LccBow\InlierDistance=0.01
LccBow\Iterations=100
LccBow\MaxDepth=5
LccBow\MinInliers=20
LccIcp\MaxDistance=0.2
LccIcp\Type=0
LccIcp2\CorrespondenceRatio=0.7
LccIcp2\Iterations=30
LccIcp2\MaxCorrespondenceDistance=0.1
LccIcp2\MaxFitness=1
LccIcp2\VoxelSize=0.005
LccIcp3\Decimation=8
LccIcp3\Iterations=30
LccIcp3\MaxCorrespondenceDistance=0.05
LccIcp3\MaxDepth=4
LccIcp3\MaxFitness=1
LccIcp3\Samples=0
LccIcp3\VoxelSize=0.005
Mem\BadSignaturesIgnored=true
Mem\GenerateIds=true
Mem\ImageKept=true
Mem\IncrementalMemory=true
Mem\RecentWmRatio=0.2
Mem\RehearsalIdUpdatedToNewOne=true
Mem\RehearsalSimilarity=0.4
Mem\RehearsedNodesKept=true
Mem\STMSize=15
Odom\AngularUpdate=0
Odom\InlierDistance=0.005
Odom\Iterations=100
Odom\LinearUpdate=0
Odom\MaxDepth=5
Odom\MaxWords=0
Odom\MinInliers=20
Odom\ResetCountdown=0
Odom\Type=0
OdomBin\BriefBytes=32
OdomBin\BruteForceMatching=true
OdomBin\FastNonmaxSuppression=true
OdomBin\FastThreshold=30
OdomICP\CorrespondencesDistance=0.05
OdomICP\Decimation=4
OdomICP\Iterations=30
OdomICP\MaxFitness=0.01
OdomICP\Samples=0
OdomICP\VoxelSize=0.005
RGBD\AngularUpdate=0
RGBD\Enabled=false
RGBD\LinearUpdate=0
RGBD\LocalLoopDetectionMaxDiffID=0
RGBD\LocalLoopDetectionNeighbors=20
RGBD\LocalLoopDetectionRadius=15
RGBD\LocalLoopDetectionSpace=false
RGBD\LocalLoopDetectionTime=true
RGBD\NewMapOdomChangeDistance=1
RGBD\ScanMatchingSize=0
RGBD\ToroIterations=100
Rtabmap\DetectionRate=0
Rtabmap\ImageBufferSize=0
Rtabmap\LoopRatio=0.9
Rtabmap\LoopThr=0.11
Rtabmap\MaxRetrieved=2
Rtabmap\MemoryThr=0
Rtabmap\PublishImage=true
Rtabmap\PublishLikelihood=true
Rtabmap\PublishPdf=true
Rtabmap\PublishStats=true
Rtabmap\StatisticLogged=false
Rtabmap\StatisticLogsBufferedInRAM=true
Rtabmap\TimeThr=0
Rtabmap\VhStrategy=0
SIFT\ContrastThreshold=0.04
SIFT\EdgeThreshold=10
SIFT\NFeatures=0
SIFT\NOctaveLayers=3
SIFT\Sigma=1.6
SURF\Extended=false
SURF\GpuVersion=false
SURF\HessianThreshold=150
SURF\OctaveLayers=2
SURF\Octaves=4
SURF\Upright=false
VhEp\MatchCountMin=8
VhEp\RansacParam1=3
VhEp\RansacParam2=0.99