{
    "name": "Realsense bag file",
    "path_dataset": "dataset/realsense.bag",
    "path_intrinsic": "optional/read_from_bag_file.json",
    "depth_max": 3.0,
    "voxel_size": 0.05,
    "depth_diff_max": 0.07,
    "preference_loop_closure_odometry": 0.1,
    "preference_loop_closure_registration": 5.0,
    "tsdf_cubic_size": 3.0,
    "icp_method": "color",
    "global_registration": "ransac",
    "python_multi_threading": true
}