# Could be used with LiDARs like Velodyne, RoboSense, Ouster

[Camera]
Scan\downsampleStep = 1
Scan\fromDepth = false
Scan\normalsK = 0
Scan\normalsRadius = 0
Scan\normalsUp = false
Scan\rangeMax = 0
Scan\rangeMin = 0
Scan\voxelSize = 0

[Gui]
General\showClouds0 = false
General\showClouds1 = false

[Core]
# Would be 0.01 for odom and 0.2 for mapping:
Icp\CorrespondenceRatio = 0.1
Icp\Epsilon = 0.001
Icp\FiltersEnabled = 2
Icp\Iterations = 10
Icp\OutlierRatio = 0.7
# ~10x the voxel size:
Icp\MaxCorrespondenceDistance = 0.5
Icp\MaxTranslation = 2
# Uncomment if lidar can see ground most of the time (on a car or wheeled robot):
#Icp\PointToPlaneGroundNormalsUp = 0.8
Icp\PointToPlaneK = 20
Icp\PointToPlaneMinComplexity = 0
# Make sure PM is used:
Icp\Strategy = 1
Icp\VoxelSize = 0.05
Mem\NotLinkedNodesKept = false
Mem\STMSize = 30
Odom\Deskewing = true
Odom\GuessSmoothingDelay = 0.3
Odom\ScanKeyFrameThr = 0.6
OdomF2M\ScanMaxSize = 15000
# Match voxel size:
OdomF2M\ScanSubtractRadius = 0.05
RGBD\AngularUpdate = 0.05
RGBD\LinearUpdate = 0.05
RGBD\ProximityMaxGraphDepth = 0
RGBD\ProximityPathMaxNeighbors = 1
Reg\Strategy = 1