usbl:
  min_points_per_segment: 5
  max_gap_seconds: 30
  mad_sigma: 3.0
  moving_avg_window: 5
ingest:
  min_video_seconds: 120
  max_timestamp_delta_seconds: 60
frame_extract:
  fps: 1
  width: 518
  height: 294
  underwater_r_minus_g: 5
  trim_min_frames: 8
  bottom_visible_pct_min: 25
inference:
  ply_conf_threshold: 1.5
  max_frame_num: 1024
  mode: streaming
  keyframe_interval: 1
  min_frames_for_inference: 32
  inference_timeout_s: 10800
  offload_to_cpu: false
align:
  max_translation_m: 500
  min_inlier_ratio: 0.3
stitch:
  voxel_size: 0.05
  icp_max_distance: 0.5
  icp_iterations: 50
  use_ransac: true
  ransac_iterations: 100000