Visual Servoing Platform version 3.6.0
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realsense-color-and-depth.json
1{
2 "referenceCameraName": "Color",
3 "trackers": {
4 "Color": {
5 "angleAppear": 65.0,
6 "angleDisappear": 75.00000000000001,
7 "camTref": {
8 "cols": 4,
9 "data": [
10 1.0,
11 0.0,
12 0.0,
13 0.0,
14 0.0,
15 1.0,
16 0.0,
17 0.0,
18 0.0,
19 0.0,
20 1.0,
21 0.0,
22 0.0,
23 0.0,
24 0.0,
25 1.0
26 ],
27 "rows": 4,
28 "type": "vpHomogeneousMatrix"
29 },
30 "camera": {
31 "model": "perspectiveWithoutDistortion",
32 "px": 605.146728515625,
33 "py": 604.79150390625,
34 "u0": 325.53253173828125,
35 "v0": 244.95083618164063
36 },
37 "clipping": {
38 "far": 0.9,
39 "flags": [
40 "all"
41 ],
42 "near": 0.1
43 },
44 "display": {
45 "features": true,
46 "projectionError": true
47 },
48 "edge": {
49 "maskSign": 0,
50 "maskSize": 5,
51 "minSampleStep": 4.0,
52 "mu": [
53 0.5,
54 0.5
55 ],
56 "nMask": 180,
57 "ntotalSample": 0,
58 "pointsToTrack": 500,
59 "range": 7,
60 "sampleStep": 4.0,
61 "strip": 2,
62 "threshold": 5000.0
63 },
64 "klt": {
65 "blockSize": 3,
66 "harris": 0.01,
67 "maskBorder": 5,
68 "maxFeatures": 300,
69 "minDistance": 5.0,
70 "pyramidLevels": 3,
71 "quality": 0.01,
72 "windowSize": 5
73 },
74 "lod": {
75 "minLineLengthThresholdGeneral": 50.0,
76 "minPolygonAreaThresholdGeneral": 2500.0,
77 "useLod": false
78 },
79 "type": [
80 "edge",
81 "klt"
82 ],
83 "visibilityTest": {
84 "ogre": false,
85 "scanline": true
86 }
87 },
88 "Depth": {
89 "angleAppear": 70.0,
90 "angleDisappear": 80.0,
91 "camTref": {
92 "cols": 4,
93 "data": [
94 0.999972403049469,
95 -0.006713358219712973,
96 -0.003179509425535798,
97 -0.01465611346065998,
98 0.006699616555124521,
99 0.9999682307243347,
100 -0.004313052631914616,
101 9.024870814755559e-05,
102 0.003208363428711891,
103 0.00429163221269846,
104 0.9999856352806091,
105 -0.0004482123476918787,
106 0.0,
107 0.0,
108 0.0,
109 1.0
110 ],
111 "rows": 4,
112 "type": "vpHomogeneousMatrix"
113 },
114 "camera": {
115 "model": "perspectiveWithoutDistortion",
116 "px": 381.7528076171875,
117 "py": 381.7528076171875,
118 "u0": 323.3261413574219,
119 "v0": 236.82505798339844
120 },
121 "clipping": {
122 "far": 2.0,
123 "flags": [
124 "all"
125 ],
126 "near": 0.01
127 },
128 "dense": {
129 "sampling": {
130 "x": 1,
131 "y": 1
132 }
133 },
134 "normals": {
135 "featureEstimationMethod": "robust",
136 "pcl": {
137 "method": 2,
138 "ransacMaxIter": 200,
139 "ransacThreshold": 0.001
140 },
141 "sampling": {
142 "x": 2,
143 "y": 2
144 }
145 },
146 "type": [
147 "depthDense",
148 "depthNormal"
149 ],
150 "display": {
151 "features": true,
152 "projectionError": true
153 },
154 "lod": {
155 "minLineLengthThresholdGeneral": 50.0,
156 "minPolygonAreaThresholdGeneral": 2500.0,
157 "useLod": false
158 },
159 "visibilityTest": {
160 "ogre": false,
161 "scanline": true
162 }
163 }
164 },
165 "version": "1.0"
166}