teabox_depth.xml

<?xml version="1.0"?>
<conf>
  <depth_normal>
    <feature_estimation_method>0</feature_estimation_method>
    <PCL_plane_estimation>
      <method>2</method>
      <ransac_max_iter>200</ransac_max_iter>
      <ransac_threshold>0.001</ransac_threshold>
    </PCL_plane_estimation>
    <sampling_step>
      <step_X>2</step_X>
      <step_Y>2</step_Y>
    </sampling_step>
  </depth_normal>
  <depth_dense>
    <sampling_step>
      <step_X>4</step_X>
      <step_Y>4</step_Y>
    </sampling_step>
  </depth_dense>
  <camera>
    <u0>320</u0>
    <v0>240</v0>
    <px>600</px>
    <py>600</py>
  </camera>
  <face>
    <angle_appear>80</angle_appear>
    <angle_disappear>85</angle_disappear>
    <near_clipping>0.001</near_clipping>
    <far_clipping>5</far_clipping>
    <fov_clipping>1</fov_clipping>
  </face>
</conf>