Camera:
name: "RICOH THETA S 960"
setup: "monocular"
model: "equirectangular"
fps: 30.0
cols: 320
rows: 200
color_order: "RGB"
Preprocessing:
min_size: 2

Feature:
name: "default ORB feature extraction setting"
scale_factor: 1.2
num_levels: 8
ini_fast_threshold: 20
min_fast_threshold: 7

Mapping:
backend: "g2o"
baseline_dist_thr_ratio: 0.02
redundant_obs_ratio_thr: 0.9 
num_covisibilities_for_landmark_generation: 20
num_covisibilities_for_landmark_fusion: 20
erase_temporal_keyframes: false
num_temporal_keyframes: 15

Tracking:
backend: "g2o"
enable_temporal_keyframe_only_tracking: false

KeyframeInserter:
wait_for_local_bundle_adjustment: false

Relocalizer:
search_neighbor: true

LoopDetector:
backend: "g2o"

System:
map_format: "msgpack"
num_grid_cols: 47
num_grid_rows: 30