text: %YAML:1.0
  
  #--------------------------------------------------------------------------------------------
  # Info / Statistics / Debug
  #--------------------------------------------------------------------------------------------
  
  Stats.WriteKFsToFile: 1
  
  #--------------------------------------------------------------------------------------------
  # Timing Parameters - After every iteration, the respective model will sleept for x micro-secs
  #--------------------------------------------------------------------------------------------
  
  Timing.LockSleep: 1000
  
  # Client
  Timing.Client.RosRate: 1000
  Timing.Client.ViewerRate: 1000
  Timing.Client.MappingRate: 5000
  Timing.Client.CommRate: 10000
  
  # Server
  Timing.Server.RosRate: 1000
  Timing.Server.ViewerRate: 1000
  Timing.Server.MappingRate: 5000
  Timing.Server.CommRate: 10000
  Timing.Server.PlaceRecRate: 5000
  
  #--------------------------------------------------------------------------------------------
  # ORB Parameters
  #--------------------------------------------------------------------------------------------
  
  # ORB Extractor: Number of features per image
  ORBextractor.nFeatures: 1000
  
  # ORB Extractor: Scale factor between levels in the scale pyramid 	
  ORBextractor.scaleFactor: 1.2
  
  # ORB Extractor: Number of levels in the scale pyramid	
  ORBextractor.nLevels: 8
  
  # ORB Extractor: Fast threshold
  # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
  # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
  # You can lower these values if your images have low contrast			
  ORBextractor.iniThFAST: 20
  ORBextractor.minThFAST: 7
  
  #--------------------------------------------------------------------------------------------
  # Tracking Parameters
  #--------------------------------------------------------------------------------------------
  
  Tracking.iInitKFs: 5 #if tracking gets lost before x KFs after initialization, tracking is reset
  
  # KF Creation Parameters
  Tracking.MinFrames: 0
  Tracking.MaxFrames: 20
  Tracking.nMatchesInliersThres: 15
  Tracking.thRefRatio: 0.9
  
  #Tracking.ScaleAfterKF: 20
  
  # Tracking Functions Inlier Thresholds
  Tracking.TrackWithRefKfInlierThresSearch: 15
  Tracking.TrackWithRefKfInlierThresOpt: 10
  Tracking.TrackWithMotionModelInlierThresSearch: 20
  Tracking.TrackWithMotionModelInlierThresOpt: 10
  Tracking.TrackLocalMapInlierThres: 30
  
  #--------------------------------------------------------------------------------------------
  # Mapping Parameters
  #--------------------------------------------------------------------------------------------
  
  Mapping.LocalMapSize: 50
  Mapping.LocalMapBuffer: 20
  Mapping.RecentKFWindow: 20
  Mapping.RedThres: 0.98
  
  #--------------------------------------------------------------------------------------------
  # Communication Parameters
  #--------------------------------------------------------------------------------------------
  
  # Parameters for message passing
  Comm.Client.PubFreq: 5.0
  Comm.Client.KfItBound: 30
  Comm.Client.MpItBound: 3000
  
  Comm.Client.PubMaxKFs: 40
  Comm.Client.PubMaxMPs: 2500
  
  Comm.Server.PubFreq: 1.0
  Comm.Server.KfsToClient: 5
  
  # Maximum Number of KFs that can be processed per iteration of the communication module
  Comm.Server.KfItBound: 400
  Comm.Server.MpItBound: 12000
  
  # ROS Message Buffer Sizes
  Comm.Client.PubMapBuffer: 100
  Comm.Client.SubMapBuffer: 100
  
  Comm.Server.PubMapBuffer: 1000
  Comm.Server.SubMapBuffer: 1000
  
  #--------------------------------------------------------------------------------------------
  # Place Recognition Parameters
  #--------------------------------------------------------------------------------------------
  
  Placerec.NewLoopThres: 20
  Placerec.StartMapMatchingAfterKf: 30
  
  Placerec.CovisibilityConsistencyTh: 3
  
  #--------------------------------------------------------------------------------------------
  # Optimization Parameters
  #--------------------------------------------------------------------------------------------
  
  Opt.SolverIterations: 5
  Opt.MatchesThres: 20
  Opt.InliersThres: 20
  Opt.TotalMatchesThres: 40
  Opt.Probability: 0.99
  Opt.MinInliers: 6
  Opt.MaxIterations: 300
  Opt.GBAIterations: 20
  Opt.EssGraphMinFeats: 100
  
  #--------------------------------------------------------------------------------------------
  # Viewer Parameters
  #--------------------------------------------------------------------------------------------
  
  Viewer.Active: 1
  
  Viewer.ShowCovGraph: 1
  Viewer.ShowMapPoints: 1
  Viewer.ShowTraj: 1
  Viewer.ShowKFs: 0
  
  # Display only edges with weight >= CovGraphMinFeats (only used for visualization)
  Viewer.CovGraphMinFeats: 100
  
  Viewer.ScaleFactor: 20.0
  
  # Line Diameters
  Viewer.TrajMarkerSize: 0.5
  Viewer.CovGraphMarkerSize: 0.02
  Viewer.LoopMarkerSize: 0.2
  Viewer.MarkerSphereDiameter: 0.05
  
  # Paramters for KF frusta
  Viewer.CamSize: 0.02
  Viewer.CamLineSize: 0.01
  
  Viewer.ColorR0: 1.0
  Viewer.ColorG0: 1.0
  Viewer.ColorB0: 1.0
  
  Viewer.ColorR1: 0.0
  Viewer.ColorG1: 0.8
  Viewer.ColorB1: 0.0
  
  Viewer.ColorR2: 0.0
  Viewer.ColorG2: 0.0
  Viewer.ColorB2: 1.0
  
  Viewer.ColorR3: 0.6
  Viewer.ColorG3: 0.0
  Viewer.ColorB3: 0.6
  
  # Covisibility Graph Color
  Viewer.ColorRcov: 0.6
  Viewer.ColorGcov: 0.6
  Viewer.ColorBcov: 0.6
  