default.yaml

readingDataPointsFilters:
  - RandomSamplingDataPointsFilter:
      prob: 0.5

referenceDataPointsFilters:
  - SamplingSurfaceNormalDataPointsFilter:
      knn: 10

matcher:
  KDTreeMatcher:
    knn: 1
    epsilon: 0 

outlierFilters:
  - TrimmedDistOutlierFilter:
      ratio: 0.75

errorMinimizer:
  PointToPlaneErrorMinimizer

transformationCheckers:
  - CounterTransformationChecker:
      maxIterationCount: 40
  - DifferentialTransformationChecker:
      minDiffRotErr: 0.001
      minDiffTransErr: 0.01
      smoothLength: 4   

#inspector:
#  NullInspector

inspector:
 VTKFileInspector:
     baseFileName: pointmatcher-run1
     dumpPerfOnExit: 0
     dumpStats: 0
     dumpIterationInfo: 1 
     dumpDataLinks: 0 
     dumpReading: 0 
     dumpReference: 0 


logger:
  NullLogger
#  FileLogger