Visual Servoing Platform
version 3.6.0
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realsense-color-and-depth-with-model-path.json
1
{
2
"referenceCameraName"
:
"Color"
,
3
"model"
:
"model/cube/cube.cao"
,
4
"trackers"
: {
5
"Color"
: {
6
"angleAppear"
: 65.0,
7
"angleDisappear"
: 75.00000000000001,
8
"camTref"
: {
9
"cols"
: 4,
10
"data"
: [
11
1.0,
12
0.0,
13
0.0,
14
0.0,
15
0.0,
16
1.0,
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0.0,
18
0.0,
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0.0,
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0.0,
21
1.0,
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0.0,
23
0.0,
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0.0,
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0.0,
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1.0
27
],
28
"rows"
: 4,
29
"type"
:
"vpHomogeneousMatrix"
30
},
31
"camera"
: {
32
"model"
:
"perspectiveWithoutDistortion"
,
33
"px"
: 605.146728515625,
34
"py"
: 604.79150390625,
35
"u0"
: 325.53253173828125,
36
"v0"
: 244.95083618164063
37
},
38
"clipping"
: {
39
"far"
: 0.9,
40
"flags"
: [
41
"all"
42
],
43
"near"
: 0.1
44
},
45
"display"
: {
46
"features"
:
true
,
47
"projectionError"
:
true
48
},
49
"edge"
: {
50
"maskSign"
: 0,
51
"maskSize"
: 5,
52
"minSampleStep"
: 4.0,
53
"mu"
: [
54
0.5,
55
0.5
56
],
57
"nMask"
: 180,
58
"ntotalSample"
: 0,
59
"pointsToTrack"
: 500,
60
"range"
: 7,
61
"sampleStep"
: 4.0,
62
"strip"
: 2,
63
"threshold"
: 5000.0
64
},
65
"klt"
: {
66
"blockSize"
: 3,
67
"harris"
: 0.01,
68
"maskBorder"
: 5,
69
"maxFeatures"
: 300,
70
"minDistance"
: 5.0,
71
"pyramidLevels"
: 3,
72
"quality"
: 0.01,
73
"windowSize"
: 5
74
},
75
"lod"
: {
76
"minLineLengthThresholdGeneral"
: 50.0,
77
"minPolygonAreaThresholdGeneral"
: 2500.0,
78
"useLod"
:
false
79
},
80
"type"
: [
81
"edge"
,
82
"klt"
83
],
84
"visibilityTest"
: {
85
"ogre"
:
false
,
86
"scanline"
:
true
87
}
88
},
89
"Depth"
: {
90
"angleAppear"
: 70.0,
91
"angleDisappear"
: 80.0,
92
"camTref"
: {
93
"cols"
: 4,
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"data"
: [
95
0.999972403049469,
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-0.006713358219712973,
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-0.003179509425535798,
98
-0.01465611346065998,
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0.006699616555124521,
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0.9999682307243347,
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-0.004313052631914616,
102
9.024870814755559e-05,
103
0.003208363428711891,
104
0.00429163221269846,
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0.9999856352806091,
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-0.0004482123476918787,
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0.0,
108
0.0,
109
0.0,
110
1.0
111
],
112
"rows"
: 4,
113
"type"
:
"vpHomogeneousMatrix"
114
},
115
"camera"
: {
116
"model"
:
"perspectiveWithoutDistortion"
,
117
"px"
: 381.7528076171875,
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"py"
: 381.7528076171875,
119
"u0"
: 323.3261413574219,
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"v0"
: 236.82505798339844
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},
122
"clipping"
: {
123
"far"
: 2.0,
124
"flags"
: [
125
"all"
126
],
127
"near"
: 0.01
128
},
129
"dense"
: {
130
"sampling"
: {
131
"x"
: 1,
132
"y"
: 1
133
}
134
},
135
"normals"
: {
136
"featureEstimationMethod"
:
"robust"
,
137
"pcl"
: {
138
"method"
: 2,
139
"ransacMaxIter"
: 200,
140
"ransacThreshold"
: 0.001
141
},
142
"sampling"
: {
143
"x"
: 2,
144
"y"
: 2
145
}
146
},
147
"type"
: [
148
"depthDense"
,
149
"depthNormal"
150
],
151
"display"
: {
152
"features"
:
true
,
153
"projectionError"
:
true
154
},
155
"lod"
: {
156
"minLineLengthThresholdGeneral"
: 50.0,
157
"minPolygonAreaThresholdGeneral"
: 2500.0,
158
"useLod"
:
false
159
},
160
"visibilityTest"
: {
161
"ogre"
:
false
,
162
"scanline"
:
true
163
}
164
}
165
},
166
"version"
:
"1.0"
167
}
tutorial
tracking
model-based
generic-rgbd
model
cube
realsense-color-and-depth-with-model-path.json
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