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,
17 0.0,
18 0.0,
19 0.0,
20 0.0,
21 1.0,
22 0.0,
23 0.0,
24 0.0,
25 0.0,
26 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,
94 "data": [
95 0.999972403049469,
96 -0.006713358219712973,
97 -0.003179509425535798,
98 -0.01465611346065998,
99 0.006699616555124521,
100 0.9999682307243347,
101 -0.004313052631914616,
102 9.024870814755559e-05,
103 0.003208363428711891,
104 0.00429163221269846,
105 0.9999856352806091,
106 -0.0004482123476918787,
107 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,
118 "py": 381.7528076171875,
119 "u0": 323.3261413574219,
120 "v0": 236.82505798339844
121 },
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}