# Could be used with TOF cameras like Kinect v2, Kinect For Azure or L515

[Camera]
Scan\downsampleStep = 4
Scan\fromDepth = true
Scan\normalsK = 20
Scan\normalsRadius = 0
Scan\normalsUp = false
Scan\rangeMax = 0
Scan\rangeMin = 0
Scan\voxelSize = 0.05

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

[Core]
Icp\CorrespondenceRatio = 0.2
Icp\Epsilon = 0.005
Icp\OutlierRatio = 0.65
Icp\PointToPlaneMinComplexity = 0
Icp\Strategy = 0
Icp\VoxelSize = 0
Odom\Deskewing = false
Odom\ScanKeyFrameThr = 0.7
OdomF2M\ScanMaxSize = 15000
# match the input voxel size:
OdomF2M\ScanSubtractRadius = 0.05 
RGBD\ProximityPathMaxNeighbors = 1
# Make sure PM is used:
Reg\Strategy = 1