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# -*- mode: sh -*-
# Pre-Processing / stereo_pprc
################################################################
# Pre-alignment options
#
# Available choices are (however not all are supported by all sessions):
# NONE (Recommended for anything map projected)
# EPIPOLAR (Recommended for Pinhole Sessions)
# HOMOGRAPHY (Recommended for ISIS and DG Sessions)
alignment-method epipolar
# Intensity Normalization
force-use-entire-range # Use entire input range
# Select a preprocessing filter:
#
# 0 - None
# 1 - Subtracted Mean
# 2 - Laplacian of Gaussian (recommended)
prefilter-mode 2
# Kernel size (1-sigma) for pre-processing
#
# Recommend 1.4 px for Laplacian of Gaussian
# Recommend 25 px for Subtracted Mean
prefilter-kernel-width 1.4
# Integer Correlation / stereo_corr
################################################################
# Select a cost function to use for initialization:
#
# 0 - absolute difference (fast)
# 1 - squared difference (faster .. but usually bad)
# 2 - normalized cross correlation (recommended)
cost-mode 0
# Initialization step: correlation kernel size
corr-kernel 23 23
# Initializaion step: correlation window size
#corr-search -100 -100 100 100
# Subpixel Refinement / stereo_rfne
################################################################
# Subpixel step: subpixel modes
#
# 0 - disable subpixel correlation (fastest)
# 1 - parabola fitting (draft mode - not as accurate)
# 2 - affine adaptive window, bayes EM weighting (slower, but much more accurate)
subpixel-mode 2
# Subpixel step: correlation kernel size
subpixel-kernel 25 25
# Post Filtering / stereo_fltr
################################################################
# Fill in holes up to 100,000 pixels in size with an inpainting method
disable-fill-holes
# Automatic "erode" low confidence pixels
rm-half-kernel 5 5
rm-min-matches 60
rm-threshold 3
rm-cleanup-passes 1
# Triangulation / stereo_tri
################################################################
# Size max of the universe in meters and altitude off the ground.
# Setting both values to zero turns this post-processing step off.
universe-center camera
near-universe-radius 0.7
far-universe-radius 80.0
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