ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	
	Run = MOOSDB   
	
	Run = StereoOdometry_libviso @ NewConsole = true
	
	Run = RawlogPlay   @ NewConsole = true
}

ProcessConfig = MOOSDB
{
	// Enable webserver in MOOSDB
	WEBSERVERPORT  = 9080
}

//------------------------------------------
// StereoOdometry_libviso configuration block

ProcessConfig = StereoOdometry_libviso
{
	CommsTick  = 100
	AppTick    = 100
	
	// (Default="STEREO_RECT_OBS") The name of the variable with the input stream of stereo images (they must be rectified)	
	STEREO_RECT_VARNAME  = STEREO1_OBS
	//STEREO_RECT_VARNAME  = CAMERA1_OBS
	
	// (Default=false) Save dead-reckoning from visual odometry to a plain text log file.
	SAVE_ODO = true
	
	//NEW_KF_MIN_XYZ  = 0.5    // (Default=0.5) Minimum linear distance (in meters) between reference KeyFrames.
	//NEW_KF_MIN_ANG  = 25     // (Default=25) Minimum angle (degrees) between reference KeyFrames.
	//FORZE_Z0        = true   // FORZE_Z0 (Default=false) Forze Z coordinate to be always exactly zero.
	
}


//------------------------------------------
// RawlogPlay configuration block

ProcessConfig = RawlogPlay
{
	CommsTick  = 1000
	AppTick    = 1000

	// (Mandatory) Path to the rawlog file to open
	//INPUT_RAWLOG = D:\Rawlogs\ual-datasets\2014-05-02_datasets_maniobras\01_straight\LOG_2014_05_02_12_31_36_rect.rawlog
	//INPUT_RAWLOG = D:\Rawlogs\ual-datasets\2014-05-02_datasets_maniobras\04_snake\LOG_2014_05_02_12_41_27_rect.rawlog
	//INPUT_RAWLOG = E:\Rawlogs\ual\2014-05-03_carretera\04_vuelta2\2014-05-03_carrera_04_vuelta2_rect.rawlog
	INPUT_RAWLOG = D:\Rawlogs\ual-datasets\2014-05-02_datasets_maniobras\04_snake\LOG_2014_05_02_12_41_27_rect.rawlog
	//INPUT_RAWLOG = E:\Rawlogs\malaga-dataset-2010\malaga-urban-dataset\extracts\malaga-urban-dataset-extract-04\malaga-urban-dataset-extract-04\malaga-urban-dataset-extract-04_CAM_GPS_rect.rawlog
	//INPUT_RAWLOG = E:\Rawlogs\malaga-dataset-2010\malaga-urban-dataset\extracts\malaga-urban-dataset-extract-08\malaga-urban-dataset-extract-08_rectified_800x600.rawlog
	//INPUT_RAWLOG = E:\Rawlogs\karlsruhe_sequences\2009_09_08_drive_0010\2009_09_08_drive_0010.rawlog

	// (Default=1.0) Time warping: <1=slower than real time.
	TIME_WARP  = 0.2
}