[Gui]
General\imagesKept=true
General\loggerLevel=2
General\loggerEventLevel=3
General\loggerPauseLevel=3
General\loggerType=1
General\loggerPrintTime=true
General\verticalLayoutUsed=true
General\imageFlipped=false
General\imageRejectedShown=true
General\imageHighestHypShown=false
General\beep=false
General\keypointsOpacity=20
General\showClouds0=true
General\voxelSize0=0
General\decimation0=4
General\maxDepth0=4
General\showScans0=true
General\opacity0=1
General\ptSize0=1
General\opacityScan0=1
General\ptSizeScan0=1
General\showClouds1=false
General\voxelSize1=0
General\decimation1=2
General\maxDepth1=0
General\showScans1=false
General\opacity1=1
General\ptSize1=2
General\opacityScan1=1
General\ptSizeScan1=1
General\meshing=false
General\meshGP3Radius=0.04
General\meshNormalKSearch=20
General\meshSmoothing=false
General\meshSmoothingRadius=0.04
General\cloudFiltering=true
General\cloudFilteringRadius=0.1
General\cloudFilteringAngle=30
General\gridMapShown=false
General\gridMapResolution=0.05
General\gridMapFillEmptySpace=true
General\gridMapOpacity=0.75

[Camera]
imageUsed=false
imgRate=2
type=0
imgWidth=0
imgHeight=0
usbDevice\id=0
images\path=
images\startPos=1
images\refreshDir=false
video\path=

[Database]
databaseUsed=true
ignoreOdometry=false
startPos=0

[Openni]
openniUsed=false
openniType=false
freenectType=true
openni2=false
openniCvType=false
openniCvAsusType=false
device=0
localTransform=0 0 0 -PI_2 0 -PI_2
fx=0
fy=0
cx=0
cy=0

[Core]
BRIEF\Bytes=32
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=false
DbSqlite3\JournalMode=3
DbSqlite3\Synchronous=0
DbSqlite3\TempStore=2
FAST\Gpu=false
FAST\GpuKeypointsRatio=0.05
FAST\NonmaxSuppression=true
FAST\Threshold=30
FREAK\NOctaves=4
FREAK\OrientationNormalized=true
FREAK\PatternScale=22
FREAK\ScaleNormalized=true
GFTT\BlockSize=3
GFTT\K=0.04
GFTT\MaxCorners=1000
GFTT\MinDistance=1
GFTT\QualityLevel=0.01
GFTT\UseHarrisDetector=false
Kp\BadSignRatio=0.2
Kp\DetectorStrategy=0
Kp\DictionaryPath=
Kp\IncrementalDictionary=true
Kp\MaxDepth=4
Kp\NNStrategy=1
Kp\NndrRatio=0.8
Kp\Parallelized=true
Kp\PublishKeypoints=true
Kp\RoiRatios=0 0 0 0.3
Kp\TfIdfLikelihoodUsed=false
Kp\WordsPerImage=400
LccBow\Force2D=true
LccBow\InlierDistance=0.05
LccBow\Iterations=100
LccBow\MaxDepth=4
LccBow\MinInliers=3
LccIcp\MaxDistance=0.2
LccIcp\Type=2
LccIcp2\CorrespondenceRatio=0.5
LccIcp2\Iterations=30
LccIcp2\MaxCorrespondenceDistance=0.1
LccIcp2\MaxFitness=1
LccIcp2\VoxelSize=0
LccIcp3\Decimation=8
LccIcp3\Iterations=30
LccIcp3\MaxCorrespondenceDistance=0.05
LccIcp3\MaxDepth=4
LccIcp3\MaxFitness=1
LccIcp3\Samples=0
LccIcp3\VoxelSize=0.005
LccReextract\FeatureType=4
LccReextract\LoopClosureFeatures=false
LccReextract\MaxWords=0
LccReextract\NNDR=0.7
LccReextract\NNType=3
Mem\BadSignaturesIgnored=false
Mem\GenerateIds=true
Mem\ImageKept=true
Mem\IncrementalMemory=true
Mem\InitWMWithAllNodes=false
Mem\RecentWmRatio=0.2
Mem\RehearsalIdUpdatedToNewOne=false
Mem\RehearsalSimilarity=0.6
Mem\RehearsedNodesKept=true
Mem\STMSize=10
ORB\EdgeThreshold=31
ORB\FirstLevel=0
ORB\Gpu=false
ORB\NFeatures=500
ORB\NLevels=8
ORB\PatchSize=31
ORB\ScaleFactor=1.2
ORB\ScoreType=0
ORB\WTA_K=2
Odom\AngularUpdate=0
Odom\InlierDistance=0.01
Odom\Iterations=100
Odom\LinearUpdate=0
Odom\LocalHistory=0
Odom\MaxDepth=5
Odom\MaxWords=0
Odom\MinInliers=10
Odom\NNDR=0.7
Odom\NearestNeighbor=3
Odom\ResetCountdown=0
Odom\Type=4
Odom\WordsRatio=0.5
RGBD\AngularUpdate=0
RGBD\Enabled=true
RGBD\LinearUpdate=0
RGBD\LocalLoopDetectionMaxDiffID=0
RGBD\LocalLoopDetectionNeighbors=20
RGBD\LocalLoopDetectionRadius=2
RGBD\LocalLoopDetectionSpace=false
RGBD\LocalLoopDetectionTime=false
RGBD\NewMapOdomChangeDistance=0
RGBD\OptimizeFromGraphEnd=false
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\GpuKeypointsRatio=0.01
SURF\GpuVersion=false
SURF\HessianThreshold=60
SURF\OctaveLayers=2
SURF\Octaves=4
SURF\Upright=false
VhEp\MatchCountMin=8
VhEp\RansacParam1=3
VhEp\RansacParam2=0.99