Visual Servoing Platform
version 3.6.0
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realsense-color-and-depth.json
1
{
2
"referenceCameraName"
:
"Color"
,
3
"trackers"
: {
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"Color"
: {
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"angleAppear"
: 65.0,
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"angleDisappear"
: 75.00000000000001,
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"camTref"
: {
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"cols"
: 4,
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"data"
: [
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1.0,
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0.0,
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0.0,
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0.0,
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0.0,
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1.0,
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0.0,
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0.0,
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0.0,
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0.0,
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1.0,
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0.0,
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0.0,
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0.0,
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0.0,
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1.0
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],
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"rows"
: 4,
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"type"
:
"vpHomogeneousMatrix"
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},
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"camera"
: {
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"model"
:
"perspectiveWithoutDistortion"
,
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"px"
: 605.146728515625,
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"py"
: 604.79150390625,
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"u0"
: 325.53253173828125,
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"v0"
: 244.95083618164063
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},
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"clipping"
: {
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"far"
: 0.9,
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"flags"
: [
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"all"
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],
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"near"
: 0.1
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},
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"display"
: {
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"features"
:
true
,
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"projectionError"
:
true
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},
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"edge"
: {
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"maskSign"
: 0,
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"maskSize"
: 5,
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"minSampleStep"
: 4.0,
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"mu"
: [
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0.5,
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0.5
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],
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"nMask"
: 180,
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"ntotalSample"
: 0,
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"pointsToTrack"
: 500,
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"range"
: 7,
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"sampleStep"
: 4.0,
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"strip"
: 2,
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"threshold"
: 5000.0
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},
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"klt"
: {
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"blockSize"
: 3,
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"harris"
: 0.01,
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"maskBorder"
: 5,
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"maxFeatures"
: 300,
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"minDistance"
: 5.0,
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"pyramidLevels"
: 3,
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"quality"
: 0.01,
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"windowSize"
: 5
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},
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"lod"
: {
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"minLineLengthThresholdGeneral"
: 50.0,
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"minPolygonAreaThresholdGeneral"
: 2500.0,
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"useLod"
:
false
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},
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"type"
: [
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"edge"
,
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"klt"
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],
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"visibilityTest"
: {
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"ogre"
:
false
,
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"scanline"
:
true
86
}
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},
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"Depth"
: {
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"angleAppear"
: 70.0,
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"angleDisappear"
: 80.0,
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"camTref"
: {
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"cols"
: 4,
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"data"
: [
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-0.003179509425535798,
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-0.01465611346065998,
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0.006699616555124521,
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0.9999682307243347,
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-0.004313052631914616,
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9.024870814755559e-05,
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0.003208363428711891,
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0.00429163221269846,
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0.9999856352806091,
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-0.0004482123476918787,
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0.0,
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0.0,
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0.0,
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1.0
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],
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"rows"
: 4,
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"type"
:
"vpHomogeneousMatrix"
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},
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"camera"
: {
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"model"
:
"perspectiveWithoutDistortion"
,
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"px"
: 381.7528076171875,
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"py"
: 381.7528076171875,
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"u0"
: 323.3261413574219,
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"v0"
: 236.82505798339844
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},
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"clipping"
: {
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"far"
: 2.0,
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"flags"
: [
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"all"
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],
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"near"
: 0.01
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},
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"dense"
: {
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"sampling"
: {
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"x"
: 1,
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"y"
: 1
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}
133
},
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"normals"
: {
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"featureEstimationMethod"
:
"robust"
,
136
"pcl"
: {
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"method"
: 2,
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"ransacMaxIter"
: 200,
139
"ransacThreshold"
: 0.001
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},
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"sampling"
: {
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"x"
: 2,
143
"y"
: 2
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}
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},
146
"type"
: [
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"depthDense"
,
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"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
}
tutorial
tracking
model-based
generic-rgbd
model
cube
realsense-color-and-depth.json
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