[CalibrationDialog] board_height = 6 board_square_size = 0.033 board_width = 8 geometry = @ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x1b\0\0\x5!\0\0\x3i\0\0\0\0\0\0\0\x1b\0\0\x5!\0\0\x3i\0\0\0\0\0\0\0\0\a\x80) max_scale = 1 [Camera] Database\cameraIndex = -1 Database\ignoreGoalDelay = true Database\ignoreGoals = true Database\ignoreOdometry = false Database\startId = 0 Database\stopId = 0 Database\useDatabaseStamps = false DepthFromScan\depthFromScan = false DepthFromScan\depthFromScanFillBorders = false DepthFromScan\depthFromScanFillHoles = true DepthFromScan\depthFromScanHorizontal = false DepthFromScan\depthFromScanVertical = true Freenect2\bilateralFiltering = true Freenect2\edgeAwareFiltering = true Freenect2\format = 1 Freenect2\maxDepth = 12 Freenect2\minDepth = 0.3 Freenect2\noiseFiltering = true Freenect2\pipeline = IMU\complementary_adaptive_gain = true IMU\complementary_biais_estimation = true IMU\complementary_bias_alpha = 0.01 IMU\complementary_gain_acc = 0.01 IMU\madgwick_gain = 0.1 IMU\madgwick_zeta = 0 IMU\publish_inter_imu = false IMU\strategy = 1 Images\bayerMode = 0 Images\config_each_frame = false Images\filenames_as_stamps = false Images\gt_format = 0 Images\gt_path = Images\imu_local_transform = 0 0 1 0 -1 0 1 0 0 Images\imu_path = Images\imu_rate = 0 Images\maxFrames = 0 Images\max_pose_time_diff = 0.02 Images\odom_format = 0 Images\odom_path = Images\path = Images\path_scans = Images\scan_max_pts = 0 Images\scan_transform = 0 0 0 0 0 0 Images\stamps = Images\startPos = 0 Images\sync_stamps = true K4A\depth_resolution = 2 K4A\framerate = 2 K4A\ir = true K4A\mkvPath = K4A\rgb_resolution = 0 K4A\useMkvStamps = true K4W2\format = 1 MyntEye\auto_exposure = true MyntEye\brightness = 120 MyntEye\contrast = 116 MyntEye\depth = false MyntEye\gain = 24 MyntEye\ir_control = 0 MyntEye\rectify = false Openni\oniPath = Openni2\autoExposure = true Openni2\autoWhiteBalance = true Openni2\exposure = 0 Openni2\gain = 100 Openni2\hshift = 0 Openni2\mirroring = false Openni2\oniPath = Openni2\stampsIdsUsed = false Openni2\vshift = 0 RGBDImages\max_frames = 0 RGBDImages\path_depth = RGBDImages\path_rgb = RGBDImages\scale = 1 RGBDImages\start_index = 0 RealSense\depthScaled = false RealSense\odom = false RealSense\presetDepth = 2 RealSense\presetRGB = 0 RealSense\rgbSource = 0 RealSense2\dual_mode = false RealSense2\dual_mode_extrinsics = 0.009 0.021 0.027 0 -0.018 0.005 RealSense2\emitter = true RealSense2\height = 480 RealSense2\ir = false RealSense2\irdepth = true RealSense2\json_preset = RealSense2\rate = 60 RealSense2\width = 848 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 StereoImages\max_frames = 0 StereoImages\path_left = StereoImages\path_right = StereoImages\rectify = false StereoImages\start_index = 0 StereoRealSense2\odom = false StereoVideo\device2 = -1 StereoVideo\path = StereoVideo\path2 = StereoZed\confidence_thr = 100 StereoZed\odom = false StereoZed\quality = 1 StereoZed\resolution = 2 StereoZed\self_calibration = true StereoZed\sensing_mode = 0 StereoZed\svo_path = StereoZed\textureness_confidence_thr = 90 UsbCam\height = 0 UsbCam\width = 0 Video\path = calibrationName = device = imageDecimation = 1 imgRate = 0 localTransform = 0 0 1 -1 0 0 0 -1 0 mirroring = false rgb\driver = 0 rgb\rectify = false rgbd\bilateral = false rgbd\bilateral_sigma_r = 0.1 rgbd\bilateral_sigma_s = 10 rgbd\distortion_model = rgbd\driver = 10 rgbd\rgbdColorOnly = false stereo\depthGenerated = false stereo\driver = 0 stereo\exposureCompensation = false type = 0 [Gui] General\beep = false General\cloudCeilingHeight = 0 General\cloudFiltering = false General\cloudFilteringAngle = 30 General\cloudFilteringRadius = 0.1 General\cloudFloorHeight = 0 General\cloudNoiseMinNeighbors = 5 General\cloudNoiseRadius = 0 General\cloudVoxel = 0 General\cloudsKept = true General\colorScheme0 = 0 General\colorScheme1 = 0 General\colorSchemeScan0 = 0 General\colorSchemeScan1 = 0 General\decimation0 = 4 General\decimation1 = 4 General\downsamplingScan0 = 1 General\downsamplingScan1 = 1 General\figure_cache = true General\figure_time = true General\gravityLength0 = 1 General\gravityLength1 = 1 General\gravityShown0 = false General\gravityShown1 = false General\gridMapOpacity = 0.75 General\gridMapShown = false General\gtAlign = true General\imageHighestHypShown = false General\imageRejectedShown = true General\imagesKept = true General\landmarkSize = 0 General\localizationsGraphView = false General\loggerEventLevel = 3 General\loggerLevel = 2 General\loggerPauseLevel = 3 General\loggerPrintThreadId = false General\loggerPrintTime = true General\loggerType = 1 General\maxDepth0 = 0 General\maxDepth1 = 0 General\maxRange0 = 0 General\maxRange1 = 0 General\meshing = false General\meshing_angle = 15 General\meshing_quad = true General\meshing_texture = false General\meshing_triangle_size = 2 General\minDepth0 = 0 General\minDepth1 = 0 General\minRange0 = 0 General\minRange1 = 0 General\noFiltering = true General\nochangeGraphView = false General\normalKSearch = 10 General\normalRadiusSearch = 0 General\notifyNewGlobalPath = false General\octomap = false General\octomap_2dgrid = true General\octomap_3dmap = true General\octomap_depth = 16 General\octomap_point_size = 5 General\octomap_rendering_type = 0 General\odomDisabled = false General\odomF2MGravitySigma = -1 General\odomOnlyInliersShown = false General\odomQualityThr = 50 General\odomRegistration = 3 General\opacity0 = 1 General\opacity1 = 0.75 General\opacityScan0 = 1 General\opacityScan1 = 0.5 General\posteriorGraphView = true General\ptSize0 = 2 General\ptSize1 = 2 General\ptSizeFeatures0 = 3 General\ptSizeFeatures1 = 3 General\ptSizeScan0 = 2 General\ptSizeScan1 = 2 General\roiRatios0 = 0.0 0.0 0.0 0.0 General\roiRatios1 = 0.0 0.0 0.0 0.0 General\scanCeilingHeight = 0 General\scanFloorHeight = 0 General\scanNormalKSearch = 0 General\scanNormalRadiusSearch = 0 General\showClouds0 = false General\showClouds1 = false General\showFeatures0 = false General\showFeatures1 = true General\showFrames = false General\showFrustums0 = false General\showFrustums1 = false General\showGraphs = true General\showIMUAcc = false General\showIMUGravity = false General\showLabels = false General\showLandmarks = true General\showScans0 = true General\showScans1 = true General\subtractFiltering = false General\subtractFilteringAngle = 0 General\subtractFilteringMinPts = 5 General\subtractFilteringRadius = 0.02 General\verticalLayoutUsed = true General\voxelSizeScan0 = 0 General\voxelSizeScan1 = 0 General\wordsGraphView = false [Core] Version = 0.20.6 BRIEF\Bytes = 32 BRISK\Octaves = 3 BRISK\PatternScale = 1 BRISK\Thresh = 30 Bayes\FullPredictionUpdate = false 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 = false DbSqlite3\JournalMode = 3 DbSqlite3\Synchronous = 0 DbSqlite3\TempStore = 2 FAST\CV = 0 FAST\Gpu = false FAST\GpuKeypointsRatio = 0.05 FAST\GridCols = 0 FAST\GridRows = 0 FAST\MaxThreshold = 200 FAST\MinThreshold = 7 FAST\NonmaxSuppression = true FAST\Threshold = 20 FREAK\NOctaves = 4 FREAK\OrientationNormalized = true FREAK\PatternScale = 22 FREAK\ScaleNormalized = true GFTT\BlockSize = 3 GFTT\K = 0.04 GFTT\MinDistance = 3 GFTT\QualityLevel = 0.001 GFTT\UseHarrisDetector = false GMS\ThresholdFactor = 6.0 GMS\WithRotation = false GMS\WithScale = false GTSAM\Optimizer = 1 Grid\3D = true Grid\CellSize = 0.05 Grid\ClusterRadius = 0.1 Grid\DepthDecimation = 4 Grid\DepthRoiRatios = 0.0 0.0 0.0 0.0 Grid\FlatObstacleDetected = true Grid\FootprintHeight = 0.0 Grid\FootprintLength = 0.0 Grid\FootprintWidth = 0.0 Grid\FromDepth = true Grid\GroundIsObstacle = false Grid\MapFrameProjection = false Grid\MaxGroundAngle = 45 Grid\MaxGroundHeight = 0.0 Grid\MaxObstacleHeight = 0.0 Grid\MinClusterSize = 10 Grid\MinGroundHeight = 0.0 Grid\NoiseFilteringMinNeighbors = 5 Grid\NoiseFilteringRadius = 0.0 Grid\NormalK = 20 Grid\NormalsSegmentation = true Grid\PreVoxelFiltering = true Grid\RangeMax = 5 Grid\RangeMin = 0.0 Grid\RayTracing = false Grid\Scan2dUnknownSpaceFilled = false Grid\ScanDecimation = 1 GridGlobal\Eroded = false GridGlobal\FootprintRadius = 0.0 GridGlobal\FullUpdate = true GridGlobal\MaxNodes = 0 GridGlobal\MinSize = 0.0 GridGlobal\OccupancyThr = 0.5 GridGlobal\ProbClampingMax = 0.971 GridGlobal\ProbClampingMin = 0.1192 GridGlobal\ProbHit = 0.7 GridGlobal\ProbMiss = 0.4 GridGlobal\UpdateError = 0.01 Icp\CorrespondenceRatio = 0.2 Icp\DownsamplingStep = 1 Icp\Epsilon = 0.005 Icp\Iterations = 30 Icp\MaxCorrespondenceDistance = 0.1 Icp\MaxRotation = 0.78 Icp\MaxTranslation = 0.2 Icp\PM = true Icp\PMConfig = Icp\PMMatcherEpsilon = 0.0 Icp\PMMatcherKnn = 1 Icp\PMOutlierRatio = 0.65 Icp\PointToPlane = true Icp\PointToPlaneK = 5 Icp\PointToPlaneMinComplexity = 0 Icp\PointToPlaneRadius = 1 Icp\RangeMax = 0 Icp\RangeMin = 0 Icp\VoxelSize = 0 ImuFilter\ComplementaryBiasAlpha = 0.01 ImuFilter\ComplementaryDoAdpativeGain = true ImuFilter\ComplementaryDoBiasEstimation = true ImuFilter\ComplementaryGainAcc = 0.01 ImuFilter\MadgwickGain = 0.1 ImuFilter\MadgwickZeta = 0.0 KAZE\Diffusivity = 1 KAZE\Extended = false KAZE\NOctaveLayers = 4 KAZE\NOctaves = 4 KAZE\Threshold = 0.001 KAZE\Upright = false Kp\BadSignRatio = 0.5 Kp\ByteToFloat = false Kp\DetectorStrategy = 8 Kp\DictionaryPath = Kp\FlannRebalancingFactor = 2.0 Kp\GridCols = 1 Kp\GridRows = 1 Kp\IncrementalDictionary = true Kp\IncrementalFlann = true Kp\MaxDepth = 0 Kp\MaxFeatures = 500 Kp\MinDepth = 0 Kp\NNStrategy = 1 Kp\NewWordsComparedTogether = true Kp\NndrRatio = 0.8 Kp\Parallelized = true Kp\RoiRatios = 0.0 0.0 0.0 0.0 Kp\SubPixEps = 0.02 Kp\SubPixIterations = 0 Kp\SubPixWinSize = 3 Kp\TfIdfLikelihoodUsed = true Marker\CornerRefinementMethod = 0 Marker\Dictionary = 0 Marker\Length = 0 Marker\MaxDepthError = 0.01 Marker\MaxRange = 0.0 Marker\MinRange = 0.0 Marker\VarianceAngular = 0.01 Marker\VarianceLinear = 0.001 Mem\BadSignaturesIgnored = false Mem\BinDataKept = true Mem\CompressionParallelized = true Mem\CovOffDiagIgnored = true Mem\DepthAsMask = true Mem\GenerateIds = true Mem\ImageCompressionFormat = .jpg Mem\ImageKept = false Mem\ImagePostDecimation = 1 Mem\ImagePreDecimation = 1 Mem\IncrementalMemory = true Mem\InitWMWithAllNodes = false Mem\IntermediateNodeDataKept = false Mem\LaserScanDownsampleStepSize = 1 Mem\LaserScanNormalK = 0 Mem\LaserScanNormalRadius = 0.0 Mem\LaserScanVoxelSize = 0.0 Mem\LocalizationDataSaved = false Mem\MapLabelsAdded = true Mem\NotLinkedNodesKept = true Mem\RawDescriptorsKept = true Mem\RecentWmRatio = 0.2 Mem\ReduceGraph = false Mem\RehearsalIdUpdatedToNewOne = false Mem\RehearsalSimilarity = 0.6 Mem\RehearsalWeightIgnoredWhileMoving = false Mem\STMSize = 10 Mem\SaveDepth16Format = false Mem\StereoFromMotion = false Mem\TransferSortingByWeightId = false Mem\UseOdomFeatures = true Mem\UseOdomGravity = false ORB\EdgeThreshold = 19 ORB\FirstLevel = 0 ORB\Gpu = false ORB\NLevels = 3 ORB\PatchSize = 31 ORB\ScaleFactor = 2 ORB\ScoreType = 0 ORB\WTA_K = 2 Odom\AlignWithGround = false Odom\FillInfoData = true Odom\FilteringStrategy = 0 Odom\GuessMotion = true Odom\GuessSmoothingDelay = 0 Odom\Holonomic = true Odom\ImageBufferSize = 1 Odom\ImageDecimation = 1 Odom\KalmanMeasurementNoise = 0.01 Odom\KalmanProcessNoise = 0.001 Odom\KeyFrameThr = 0.3 Odom\ParticleLambdaR = 100 Odom\ParticleLambdaT = 100 Odom\ParticleNoiseR = 0.002 Odom\ParticleNoiseT = 0.002 Odom\ParticleSize = 400 Odom\ResetCountdown = 0 Odom\ScanKeyFrameThr = 0.7 Odom\Strategy = 0 Odom\VisKeyFrameThr = 150 OdomF2M\BundleAdjustment = 1 OdomF2M\BundleAdjustmentMaxFrames = 10 OdomF2M\MaxNewFeatures = 0 OdomF2M\MaxSize = 2000 OdomF2M\ScanMaxSize = 15000 OdomF2M\ScanRange = 0 OdomF2M\ScanSubtractAngle = 45 OdomF2M\ScanSubtractRadius = 0.05 OdomF2M\ValidDepthRatio = 0.75 OdomFovis\BucketHeight = 80 OdomFovis\BucketWidth = 80 OdomFovis\CliqueInlierThreshold = 0.1 OdomFovis\FastThreshold = 20 OdomFovis\FastThresholdAdaptiveGain = 0.005 OdomFovis\FeatureSearchWindow = 25 OdomFovis\FeatureWindowSize = 9 OdomFovis\InlierMaxReprojectionError = 1.5 OdomFovis\MaxKeypointsPerBucket = 25 OdomFovis\MaxMeanReprojectionError = 10.0 OdomFovis\MaxPyramidLevel = 3 OdomFovis\MinFeaturesForEstimate = 20 OdomFovis\MinPyramidLevel = 0 OdomFovis\StereoMaxDisparity = 128 OdomFovis\StereoMaxDistEpipolarLine = 1.5 OdomFovis\StereoMaxRefinementDisplacement = 1.0 OdomFovis\StereoRequireMutualMatch = true OdomFovis\TargetPixelsPerFeature = 250 OdomFovis\UpdateTargetFeaturesWithRefined = false OdomFovis\UseAdaptiveThreshold = true OdomFovis\UseBucketing = true OdomFovis\UseHomographyInitialization = true OdomFovis\UseImageNormalization = false OdomFovis\UseSubpixelRefinement = true OdomLOAM\AngVar = 0.01 OdomLOAM\LinVar = 0.01 OdomLOAM\LocalMapping = true OdomLOAM\ScanPeriod = 0.1 OdomLOAM\Sensor = 2 OdomMSCKF\FastThreshold = 10 OdomMSCKF\GridCol = 5 OdomMSCKF\GridMaxFeatureNum = 4 OdomMSCKF\GridMinFeatureNum = 3 OdomMSCKF\GridRow = 4 OdomMSCKF\InitCovAccBias = 0.01 OdomMSCKF\InitCovExRot = 0.00030462 OdomMSCKF\InitCovExTrans = 0.000025 OdomMSCKF\InitCovGyroBias = 0.01 OdomMSCKF\InitCovVel = 0.25 OdomMSCKF\MaxCamStateSize = 20 OdomMSCKF\MaxIteration = 30 OdomMSCKF\NoiseAcc = 0.05 OdomMSCKF\NoiseAccBias = 0.01 OdomMSCKF\NoiseFeature = 0.035 OdomMSCKF\NoiseGyro = 0.005 OdomMSCKF\NoiseGyroBias = 0.001 OdomMSCKF\OptTranslationThreshold = 0 OdomMSCKF\PatchSize = 15 OdomMSCKF\PositionStdThreshold = 8.0 OdomMSCKF\PyramidLevels = 3 OdomMSCKF\RansacThreshold = 3 OdomMSCKF\RotationThreshold = 0.2618 OdomMSCKF\StereoThreshold = 5 OdomMSCKF\TrackPrecision = 0.01 OdomMSCKF\TrackingRateThreshold = 0.5 OdomMSCKF\TranslationThreshold = 0.4 OdomMono\InitMinFlow = 100 OdomMono\InitMinTranslation = 0.1 OdomMono\MaxVariance = 0.01 OdomMono\MinTranslation = 0.02 OdomOKVIS\ConfigPath = OdomORBSLAM2\Bf = 0.076 OdomORBSLAM2\Fps = 0 OdomORBSLAM2\MapSize = 3000 OdomORBSLAM2\MaxFeatures = 1000 OdomORBSLAM2\ThDepth = 40.0 OdomORBSLAM2\VocPath = OdomVINS\ConfigPath = OdomViso2\BucketHeight = 50 OdomViso2\BucketMaxFeatures = 2 OdomViso2\BucketWidth = 50 OdomViso2\InlierThreshold = 2.0 OdomViso2\MatchBinsize = 50 OdomViso2\MatchDispTolerance = 2 OdomViso2\MatchHalfResolution = true OdomViso2\MatchMultiStage = true OdomViso2\MatchNmsN = 3 OdomViso2\MatchNmsTau = 50 OdomViso2\MatchOutlierDispTolerance = 5 OdomViso2\MatchOutlierFlowTolerance = 5 OdomViso2\MatchRadius = 200 OdomViso2\MatchRefinement = 1 OdomViso2\RansacIters = 200 OdomViso2\Reweighting = true Optimizer\Epsilon = 0.00001 Optimizer\GravitySigma = 0.3 Optimizer\Iterations = 20 Optimizer\LandmarksIgnored = false Optimizer\PriorsIgnored = true Optimizer\Robust = false Optimizer\Strategy = 2 Optimizer\VarianceIgnored = false PyMatcher\Cuda = true PyMatcher\Iterations = 20 PyMatcher\Model = indoor PyMatcher\Path = PyMatcher\Threshold = 0.2 RGBD\AngularSpeedUpdate = 0.0 RGBD\AngularUpdate = 0.1 RGBD\CreateOccupancyGrid = false RGBD\Enabled = true RGBD\GoalReachedRadius = 0.5 RGBD\GoalsSavedInUserData = false RGBD\LinearSpeedUpdate = 0.0 RGBD\LinearUpdate = 0.1 RGBD\LocalBundleOnLoopClosure = false RGBD\LocalImmunizationRatio = 0.25 RGBD\LocalRadius = 10 RGBD\LoopClosureReextractFeatures = false RGBD\LoopCovLimited = false RGBD\MarkerDetection = false RGBD\MaxLocalRetrieved = 2 RGBD\MaxLoopClosureDistance = 0.0 RGBD\MaxOdomCacheSize = 0 RGBD\NeighborLinkRefining = false RGBD\NewMapOdomChangeDistance = 0 RGBD\OptimizeFromGraphEnd = false RGBD\OptimizeMaxError = 3.0 RGBD\PlanAngularVelocity = 0 RGBD\PlanLinearVelocity = 0 RGBD\PlanStuckIterations = 0 RGBD\ProximityAngle = 45 RGBD\ProximityBySpace = true RGBD\ProximityByTime = false RGBD\ProximityMaxGraphDepth = 50 RGBD\ProximityMaxPaths = 3 RGBD\ProximityOdomGuess = false RGBD\ProximityPathFilteringRadius = 1 RGBD\ProximityPathMaxNeighbors = 1 RGBD\ProximityPathRawPosesUsed = true RGBD\SavedLocalizationIgnored = false RGBD\ScanMatchingIdsSavedInLinks = true Reg\Force3DoF = false Reg\RepeatOnce = true Reg\Strategy = 1 Rtabmap\ComputeRMSE = true Rtabmap\CreateIntermediateNodes = false Rtabmap\DetectionRate = 1 Rtabmap\ImageBufferSize = 1 Rtabmap\ImagesAlreadyRectified = true Rtabmap\LoopGPS = true Rtabmap\LoopRatio = 0 Rtabmap\LoopThr = 0.11 Rtabmap\MaxRetrieved = 2 Rtabmap\MemoryThr = 0 Rtabmap\PublishLastSignature = true Rtabmap\PublishLikelihood = true Rtabmap\PublishPdf = true Rtabmap\PublishRAMUsage = false Rtabmap\PublishStats = true Rtabmap\RectifyOnlyFeatures = false Rtabmap\SaveWMState = false Rtabmap\StartNewMapOnGoodSignature = false Rtabmap\StartNewMapOnLoopClosure = false Rtabmap\StatisticLogged = false Rtabmap\StatisticLoggedHeaders = true Rtabmap\StatisticLogsBufferedInRAM = true Rtabmap\TimeThr = 0 SIFT\ContrastThreshold = 0.04 SIFT\EdgeThreshold = 10 SIFT\NFeatures = 0 SIFT\NOctaveLayers = 3 SIFT\RootSIFT = false SIFT\Sigma = 1.6 SURF\Extended = false SURF\GpuKeypointsRatio = 0.01 SURF\GpuVersion = false SURF\HessianThreshold = 500 SURF\OctaveLayers = 2 SURF\Octaves = 4 SURF\Upright = false Stereo\DenseStrategy = 0 Stereo\Eps = 0.01 Stereo\Iterations = 30 Stereo\MaxDisparity = 128.0 Stereo\MaxLevel = 5 Stereo\MinDisparity = 0.5 Stereo\OpticalFlow = true Stereo\SSD = true Stereo\WinHeight = 3 Stereo\WinWidth = 15 StereoBM\BlockSize = 15 StereoBM\Disp12MaxDiff = -1 StereoBM\MinDisparity = 0 StereoBM\NumDisparities = 128 StereoBM\PreFilterCap = 31 StereoBM\PreFilterSize = 9 StereoBM\SpeckleRange = 4 StereoBM\SpeckleWindowSize = 100 StereoBM\TextureThreshold = 10 StereoBM\UniquenessRatio = 15 StereoSGBM\BlockSize = 15 StereoSGBM\Disp12MaxDiff = 1 StereoSGBM\MinDisparity = 0 StereoSGBM\Mode = 2 StereoSGBM\NumDisparities = 128 StereoSGBM\P1 = 2 StereoSGBM\P2 = 5 StereoSGBM\PreFilterCap = 31 StereoSGBM\SpeckleRange = 4 StereoSGBM\SpeckleWindowSize = 100 StereoSGBM\UniquenessRatio = 20 SuperPoint\Cuda = true SuperPoint\ModelPath = SuperPoint\NMS = true SuperPoint\NMSRadius = 4 SuperPoint\Threshold = 0.010 VhEp\Enabled = false VhEp\MatchCountMin = 8 VhEp\RansacParam1 = 3 VhEp\RansacParam2 = 0.99 Vis\BundleAdjustment = 1 Vis\CorFlowEps = 0.01 Vis\CorFlowIterations = 30 Vis\CorFlowMaxLevel = 3 Vis\CorFlowWinSize = 16 Vis\CorGuessMatchToProjection = false Vis\CorGuessWinSize = 20 Vis\CorNNDR = 0.8 Vis\CorNNType = 1 Vis\CorType = 0 Vis\DepthAsMask = true Vis\EpipolarGeometryVar = 0.1 Vis\EstimationType = 1 Vis\FeatureType = 8 Vis\ForwardEstOnly = true Vis\GridCols = 1 Vis\GridRows = 1 Vis\InlierDistance = 0.1 Vis\Iterations = 300 Vis\MaxDepth = 0 Vis\MaxFeatures = 1000 Vis\MeanInliersDistance = 0.0 Vis\MinDepth = 0 Vis\MinInliers = 20 Vis\MinInliersDistribution = 0.0 Vis\PnPFlags = 0 Vis\PnPRefineIterations = 0 Vis\PnPReprojError = 2 Vis\RefineIterations = 5 Vis\RoiRatios = 0.0 0.0 0.0 0.0 Vis\SubPixEps = 0.02 Vis\SubPixIterations = 0 Vis\SubPixWinSize = 3 g2o\Baseline = 0.075 g2o\Optimizer = 0 g2o\PixelVariance = 1.0 g2o\RobustKernelDelta = 8 g2o\Solver = 0