Visual Servoing Platform version 3.6.0
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megapose_cube.json
1{
2 "height": 480,
3 "width": 640,
4 "video-device": "0",
5 "object": "cube",
6 "detectionMethod": "click",
7 "reinitThreshold": 0.5,
8 "camera": {
9 "model": "perspectiveWithoutDistortion",
10 "px": 605.146728515625,
11 "py": 604.79150390625,
12 "u0": 325.53253173828125,
13 "v0": 244.95083618164063
14 },
15 "detector": {
16 "model-path": "/path/to/cube/cube_detector.onnx",
17 "config": "none",
18 "type": "yolov7",
19 "framework": "onnx",
20 "labels": [
21 "cube"
22 ],
23 "mean":{
24 "red": 0,
25 "blue": 0,
26 "green": 0
27 },
28 "confidenceThreshold": 0.65,
29 "nmsThreshold": 0.5,
30 "filterThreshold": -0.25,
31 "scaleFactor": 0.003921569,
32 "swapRedAndBlue": false
33 },
34
35 "megapose": {
36 "address": "127.0.0.1",
37 "port": 5555,
38 "refinerIterations": 1,
39 "initialisationNumSamples": 576
40 },
41 "megaposeObjectToDetectorClass": {
42 "cube": "cube"
43 }
44}