Visual Servoing Platform version 3.7.0
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dragon_realsense.json
1{
2 "vvs": {
3 "gain": 1.0,
4 "maxIterations": 10,
5 "mu": 0.0,
6 "muIterFactor": 0.1,
7 "convergenceThreshold": 0.001
8 },
9 "updateRenderThreshold": 0.001,
10 "model": "data/dragon/dragon.bam",
11 "silhouetteExtractionSettings": {
12 "threshold": {
13 "type": "relative",
14 "value": 0.1
15 },
16 "sampling": {
17 "samplingRate": 1,
18 "numPoints": 512,
19 "reusePreviousPoints": true
20 }
21 },
22 "mask": {
23 "type": "histogram",
24 "bins": 32,
25 "objectUpdateRate": 0.1,
26 "backgroundUpdateRate": 0.1,
27 "maxDepthError": 0.01,
28 "computeOnlyOnBoundingBox": false
29 },
30 "drift": {
31 "type": "probabilistic",
32 "colorUpdateRate": 0.25,
33 "initialColorSigma": 25.0,
34 "depthSigma": 0.025,
35 "filteringMaxDistance": 0.001,
36 "minDistanceNewPoints": 0.005
37 },
38 "features": [
39 {
40 "type": "silhouetteColor",
41 "weight": 0.1,
42 "useMask": true,
43 "minMaskConfidence": 0.8,
44 "ccd": {
45 "h": 64,
46 "delta_h": 4,
47 "min_h": 16
48 }
49 },
50 {
51 "type": "depth",
52 "weight": 1,
53 "display": false,
54 "step": 2,
55 "useMask": true,
56 "minMaskConfidence": 0.8
57 },
58 {
59 "type": "klt",
60 "weight": 1,
61 "useMask": true,
62 "minMaskConfidence": 0.5,
63 "maxReprojectionErrorPixels": 5.0,
64 "newPointsMinPixelDistance": 4,
65 "minimumNumPoints": 20,
66 "blockSize": 5,
67 "useHarris": true,
68 "harris": 0.05,
69 "maxFeatures": 500,
70 "minDistance": 5.0,
71 "pyramidLevels": 3,
72 "quality": 0.01,
73 "windowSize": 5
74 }
75 ]
76}