[important]
resolution = 0.1            # voxel size (meters), v in the paper, default 0.1
inflate_unknown = 1         # d_p in the paper, default 1
inflate_hits_dist = 0.2     # d_s in the paper, default 0.2


# ----------- No need to modify if you are not professional dufoer or ufoer.
# ----------- Deeper Parameter for debugging potential better result --------

[integration]
inflate_unknown_compensation = true
ray_passthrough_hits = false
down_sampling_method = "center"       # ["none", "center", "centroid", "uniform"]
min_range = 0.2                       # For filter out the ego points (some SLAM algorithm will include a pose point etc.
max_range = -1                        # Maximum range to integrate
only_valid = false                    # Only do ray casting for points within 'max_range'
hit_depth = 0                         # Level of the octree to integrate hits
miss_depth = 0                        # Level of the octree to integrate misses
ray_casting_depth = 0                 # Level of the octree to perform ray casting
simple_ray_casting = false
simple_ray_casting_factor = 1.0
parallel = true                       # Use parallel execution for integration
num_threads = 0                       # Number of threads to use, 8 times number of physical cores seems to be a good number and it is chosen if 0 is given

[map]
levels = 20      # Levels of the octree

[dataset]
first = 0 # First pcd index
last = -1 # Last pcd index (-1 equals all)
num = -1  # Number of pcd files to read (-1 equals all)

[printing]
verbose = false
debug = false

[output]
filename = "dufomap_output"
raycasting = false