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config_nick.jsonc 15.78 KiB
{
"$id": "ftl://utu.fi",
"$schema": "",
"calibrations": {
"default": {
"board_size": [9,6],
"square_size": 50,
"frame_delay": 1.0,
"num_frames": 35,
"assume_zero_tangential_distortion": true,
"fix_aspect_ratio": true,
"fix_principal_point_at_center": true,
"use_fisheye_model": false,
"fix_k1": false,
"fix_k2": false,
"fix_k3": false,
"fix_k4": true,
"fix_k5": true,
"save": true,
"use_intrinsics": true,
"use_extrinsics": true,
"flip_vertical": false
}
},
"disparity": {
"libsgm": {
"algorithm": "libsgm",
"use_cuda": true,
"minimum": 0,
"maximum": 256,
"tau": 0.0,
"gamma": 0.0,
"window_size": 5,
"sigma": 1.5,
"lambda": 8000.0,
"use_filter": false,
"filter_iter": 3,
"filter_radius": 7
},
"rtcensus": {
"algorithm": "rtcensus",
"use_cuda": true,
"minimum": 0,
"maximum": 256,
"tau": 0.0,
"gamma": 0.0,
"window_size": 5,
"sigma": 1.5,
"lambda": 8000.0,
"use_filter": false,
"filter_iter": 3,
"filter_radius": 7
}
},
"sources": {
"stereocam": {
"type": "stereovideo",
"feed": {
"flip": false,
"nostereo": false,
"scale": 1.0,
"flip_vert": false,
"max_fps": 500,
"width": 640,
"height": 480,
"crosshair": false
},
"calibrate": false,
"calibration": { "$ref": "#calibrations/default" },
"disparity": { "$ref": "#disparity/libsgm" } },
"stereovid": {},
"localhost": {},
"realsense": {
"uri": "device:realsense"
}
},
// Listen to localhost
"net": {
"default_vision": {
"listen": "tcp://*:9001",
"peers": []
},
"default_reconstruct": {
"listen": "tcp://*:9002",
"peers": []
}
},
"displays": {
"none": {
"flip_vert": false,
"disparity": false,
"points": false,
"depth": false,
"left": false,
"right": false
},
"left": {
"flip_vert": false,
"disparity": false,
"points": false,
"depth": false,
"left": true,
"right": false
}
},
"middlebury": {
"none": {
"dataset": "",
"threshold": 10.0,
"scale": 0.25
}
},
"virtual_cams": {
"default": {
"raycaster": {
"hash_renderer": true,
"SDFRayIncrementFactor": 0.5,
"SDFTruncation": 0.05,
"SDFRayThresSampleDistFactor": 50.5,
"SDFRayThresDistFactor": 50.0,
"focal": 700,
"width": 1280,
"height": 720,
"max_depth": 10.0,
"min_depth": 0.1,
"SDFUseGradients": false,
"showBlockBorders": false
},
"uri": "device:virtual"
}
},
"hash_conf": {
"default": {
"sensorDepthMax": 15.0,
"sensorDepthMin": 0.2,
"hashNumBuckets": 10000000,
"SDFVoxelSize": 0.004,
"SDFMaxIntegrationDistance": 12.0, "SDFTruncation": 0.1,
"SDFTruncationScale": 0.005,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255,
"showRegistration": false,
"colourSmoothing": 200.0,
"colourInfluence": 2.0,
"spatialSmoothing": 0.04,
"confidenceThreshold": 0.00001,
"mls": false,
"voxels": false,
"clipping": true,
"bbox_x_max": 1.5,
"bbox_x_min": -1.5,
"bbox_y_max": 3.0,
"bbox_y_min": -3.0,
"bbox_z_max": 2.5,
"bbox_z_min": 0.0,
"cudaDevice": 1
},
"rs": {
"sensorDepthMax": 20.0,
"sensorDepthMin": 0.2,
"SDFUseGradients": false,
"hashNumBuckets": 500000,
"hashMaxCollisionLinkedListSize": 7,
"hashNumSDFBlocks": 1200000,
"SDFVoxelSize": 0.002,
"SDFMaxIntegrationDistance": 12.0,
"SDFTruncation": 0.1,
"SDFTruncationScale": 0.01,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255
}
},
"vision_default": {
"source": { "$ref": "#sources/stereocam" },
"middlebury": { "$ref": "#middlebury/none" },
"display": { "$ref": "#displays/none" },
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
"vision_rs": {
"source": { "$ref": "#sources/realsense" },
"middlebury": { "$ref": "#middlebury/none" },
"display": { "$ref": "#displays/none" },
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
"viewer_default": {
"net": {
"peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-3:9001", "tcp://ftl-node-1:9001"]
},
"sources": [
{"uri":"ftl://utu.fi/node4#vision_default/source"},
{"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node1#vision_default/source"}
]
},
"registration_default": {
"net": {
"peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-3:9001", "tcp://ftl-node-1:9001"]
},
"sources": [
{ "$ref": "#sources/realsense" },
{"uri":"ftl://utu.fi/node4#vision_default/source"}, {"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node1#vision_default/source"}
],
"origin": 2
},
"registration_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001"]
},
"sources": [
{"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 1.0, "scaling": 1.00},
{"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.0, "temperature": 6500, "scaling": 1.0}
],
"origin": 0
},
"registration_lab35": {
"net": {
"peers": ["tcp://ftl-node-3:9001",
"tcp://ftl-node-5:9001"]
},
"sources": [
{"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node5#vision_default/source"}
],
"origin": 0
},
"registration_lab13": {
"net": {
"peers": ["tcp://ftl-node-3:9001",
"tcp://ftl-node-1:9001"]
},
"sources": [
{"uri":"ftl://utu.fi/node1#vision_default/source"},
{"uri":"ftl://utu.fi/node3#vision_default/source"}
],
"origin": 0
},
"registration_lab2": {
"net": {
"peers": ["tcp://localhost:9001"]
},
"sources": [
{"uri":"ftl://utu.fi#reconstruction_lab12/sources/0"},
{"uri":"ftl://utu.fi#reconstruction_lab12/sources/1"}
//{"uri":"ftl://utu.fi#reconstruction_lab/sources/2"},
//{"uri":"ftl://utu.fi#reconstruction_lab/sources/3"},
//{"uri":"ftl://utu.fi#reconstruction_lab/sources/4"},
//{"uri":"ftl://utu.fi#reconstruction_lab/sources/5"}
],
"origin": 0
},
"reconstruction_rs": {
"net": {
"peers": ["tcp://localhost:9001"],
"listen": "tcp://*:9002"
},
"sources": [
{"uri":"ftl://utu.fi#vision_rs/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/rs" },
"merge": {
"$id": "ftl://blah/blah", "targetsource" : "ftl://utu.fi/node4#vision_default/source",
"register": false,
"chain": true,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
}
},
"reconstruction_default": {
"net": {
"peers": ["tcp://localhost:9001"]
},
"sources": [
{"type": "net", "uri":"ftl://utu.fi#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"registration": {
"reference-source" : "ftl://utu.fi#vision_default/source",
"calibration" : {
"max_error": 25,
"run": false,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
}
}
},
"reconstruction_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-1:9001",
"tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
//{"uri":"ftl://utu.fi/node2#vision_default/source"},
{"uri":"ftl://utu.fi/node1#vision_default/source"},
{"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node4#vision_default/source"}
//{"uri":"ftl://utu.fi/node5#vision_default/source"},
//{"uri":"ftl://utu.fi/node6#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node3#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab12": {
"net": {
"peers": ["tcp://ftl-node-1:9001",
"tcp://ftl-node-2:9001"],
"listen": "tcp://*:9001"
},
"sources": [ {"uri":"ftl://utu.fi/node2#vision_default/source"},
{"uri":"ftl://utu.fi/node1#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab45": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab1345": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001",
"tcp://ftl-node-1:9001",
"tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node1#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node3#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500, "patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab12345": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001",
"tcp://ftl-node-1:9001",
"tcp://ftl-node-2:9001",
"tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node1#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node2#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node3#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
{"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab35": {
"net": {
"peers": ["tcp://ftl-node-3:9001",
"tcp://ftl-node-5:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.2}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_lab13": {
"net": {
"peers": ["tcp://ftl-node-3:9001",
"tcp://ftl-node-1:9001"],
"listen": "tcp://*:9001"
},
"sources": [ {"uri":"ftl://utu.fi/node1#vision_default/source", "gamma": 0.8},
{"uri":"ftl://utu.fi/node3#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_node4": {
"net": {
"peers": ["tcp://ftl-node-4:9001","ws://localhost:80/"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node4#vision_default/source"}
],
"display": { "$ref": "#displays/none" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node1#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_node1": {
"net": {
"peers": ["tcp://ftl-node-1:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node1#vision_default/source"}
],
"display": { "$ref": "#displays/none" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
"targetsource" : "ftl://utu.fi/node1#vision_default/source",
"register": false,
"chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"reconstruction_node2": {
"net": {
"peers": ["tcp://ftl-node-2:9001"], "listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node2#vision_default/source"}
],
"display": { "$ref": "#displays/none" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"registration": {
"reference-source" : "ftl://utu.fi/node2#vision_default/source",
"calibration" : {
"max_error": 25,
"run": false,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
}
},
"stream": {}
},
"reconstruction_node3": {
"net": {
"peers": ["tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node3#vision_default/source"}
],
"display": { "$ref": "#displays/none" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"targetsource" : "ftl://utu.fi/node4#vision_default/source",
"register": false,
"chain": false,
"maxerror": 25,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
},
"stream": {}
},
"gui_node5": {
"net": {
"peers": ["tcp://ftl-node-5:9001"]
}
},
"gui_node1": {
"net": {
"peers": ["tcp://ftl-node-1:9001"]
}
},
"gui_node4": {
"net": {
"peers": ["tcp://ftl-node-4:9001"]
}
},
"gui_node31": {
"net": {
"peers": ["tcp://ftl-node-1:9001","tcp://ftl-node-3:9001"]
}
},
"gui_node3": { "net": {
"peers": ["tcp://ftl-node-3:9001"]
}
},
"gui_node2": {
"net": {
"peers": ["tcp://ftl-node-2:9001"]
}
},
"gui_all": {
"net": {
"peers": [
"tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001",
"tcp://ftl-node-1:9001",
"tcp://ftl-node-2:9001",
"tcp://ftl-node-3:9001",
"tcp://ftl-node-6:9001"
]
}
},
"gui_default": {
"net": {
"peers": ["tcp://localhost:9001"]
}
}
}