#############################
##      PREPROCESSING      ##
#############################

# Pre-alignment options

DO_INTERESTPOINT_ALIGNMENT 0
INTERESTPOINT_ALIGNMENT_SUBSAMPLING 0
DO_EPIPOLAR_ALIGNMENT 0


# Normalization options

FORCE_USE_ENTIRE_RANGE 1
DO_INDIVIDUAL_NORMALIZATION 0

# Preprocessing filter mode:
#
# 0 - None
# 1 - Gaussian Blur
# 2 - Laplacian of Gaussian Blur (recommended)
# 3 - Sign of the LoG Filter

PREPROCESSING_FILTER_MODE 2

# Gaussian convolution kernel size (1-sigma) for pre-processing 
# modes 1, 2 and 3.

SLOG_KERNEL_WIDTH 1.5

#########################################################################
###########################    CORRELATION    ###########################
#########################################################################

# Select a cost function to use for initialization:
#
# 0 - absolute difference (fast -- use in conjunction with SLoG)
# 1 - squared difference
# 2 - normalized cross correlation (recommended)

COST_MODE 2 

# Turn this up to improve the results of the discrete correlation
# step.  This will reduce the number of missing pixels, but reduce the
# overall accuracy of the disparity estimates.  
#
# WARNING: Cost blurring must be used in conjunction with affine
# adaptive window subpixel below, which are capable of achieving
# highly accurate results even when seeded by slightly inaccurate
# results from the initialization step.

COST_BLUR 0

# Initialization step: correlation kernel size 

H_KERNEL 50
V_KERNEL 50

# Initializaion step: correlation window size
H_CORR_MIN 260
H_CORR_MAX 340
V_CORR_MIN -20
V_CORR_MAX 40

# 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_H_KERNEL 25
SUBPIXEL_V_KERNEL 25



#########################################################################
############################    FILTERING    ############################
#########################################################################

# Fill in holes up to 100,000 pixels in size with an inpainting method

FILL_HOLES 1

# Automatic "erode" low confidence pixels

RM_H_HALF_KERN 5       # Note: a 5*5 halfkernel = 11*11 kernel -> 121 pixels
RM_V_HALF_KERN 5
RM_MIN_MATCHES 60      # Units = percent
RM_THRESHOLD 3
RM_CLEANUP_PASSES 1


#########################################################################
#########################    POST_PROCESSING    #########################
#########################################################################

# Size max of the universe in meters and altitude off the ground.
# Setting both values to zero turns this post-processing step off.

NEAR_UNIVERSE_RADIUS 0.0
FAR_UNIVERSE_RADIUS 0.0