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Commit 8e759187 authored by Nicolas Pope's avatar Nicolas Pope
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Update my copy of config

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config/config_nick.jsonc
+ 300
− 42
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......@@ -32,24 +32,14 @@
"gamma": 0.0,
"window_size": 5,
"sigma": 1.5,
"lambda": 8000.0
"lambda": 8000.0,
"use_filter": false,
"filter_iter": 3,
"filter_radius": 7
}
},
"sources": {
"stereocam": {},
"stereovid": {},
"localhost": {}
},
// Listen to localhost
"net": {
"default": {
"listen": "tcp://*:9001",
"peers": []
}
},
"vision_default": {
"source": {
"stereocam": {
"type": "stereovideo",
"feed": {
"flip": false,
......@@ -65,12 +55,26 @@
"calibration": { "$ref": "#calibrations/default" },
"disparity": { "$ref": "#disparity/libsgm" }
},
"middlebury": {
"dataset": "",
"threshold": 10.0,
"scale": 0.25
"stereovid": {},
"localhost": {},
"realsense": {
"uri": "device:realsense"
}
},
// Listen to localhost
"net": {
"default_vision": {
"listen": "tcp://*:9001",
"peers": []
},
"display": {
"default_reconstruct": {
"listen": "tcp://*:9002",
"peers": []
}
},
"displays": {
"none": {
"flip_vert": false,
"disparity": false,
"points": false,
......@@ -78,26 +82,42 @@
"left": false,
"right": false
},
"net": { "$ref": "#net/default" },
"stream": {
}
},
"ftl://reconstruction/default": {
"net": {
"peers": ["tcp://ftl-node-5:9001"]
},
"sources": [
{"type": "net", "uri":"ftl://utu.fi/node5/rgb-d"}
],
"display": {
"left": {
"flip_vert": false,
"disparity": false,
"points": false,
"depth": false,
"left": true,
"right": false
},
"voxelhash": {
}
},
"middlebury": {
"none": {
"dataset": "",
"threshold": 10.0,
"scale": 0.25
}
},
"virtual_cams": {
"default": {
"raycaster": {
"hash_renderer": true,
"SDFRayIncrementFactor": 0.5,
"SDFTruncation": 0.02,
"SDFRayThresSampleDistFactor": 50.5,
"SDFRayThresDistFactor": 50.0,
"focal": 700,
"width": 1280,
"height": 720,
"max_depth": 10.0,
"min_depth": 0.1,
"SDFUseGradients": false
},
"uri": "device:virtual"
}
},
"hash_conf": {
"default": {
"adapterWidth": 640,
"adapterHeight": 480,
"sensorDepthMax": 20.0,
......@@ -106,19 +126,93 @@
"SDFRayThresSampleDistFactor": 50.5,
"SDFRayThresDistFactor": 50.0,
"SDFUseGradients": false,
"hashNumBuckets": 50000,
"hashNumBuckets": 500000,
"hashMaxCollisionLinkedListSize": 7,
"hashNumSDFBlocks": 1000000,
"SDFVoxelSize": 0.005,
"SDFVoxelSize": 0.003,
"SDFMaxIntegrationDistance": 12.0,
"SDFTruncation": 0.1,
"SDFTruncationScale": 0.05,
"SDFTruncation": 0.02,
"SDFTruncationScale": 0.001,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255,
"hash_renderer": true
},
"rs": {
"sensorDepthMax": 20.0,
"sensorDepthMin": 0.2,
"SDFUseGradients": false,
"hashNumBuckets": 500000,
"hashMaxCollisionLinkedListSize": 7,
"hashNumSDFBlocks": 1000000,
"SDFVoxelSize": 0.003,
"SDFMaxIntegrationDistance": 12.0,
"SDFTruncation": 0.01,
"SDFTruncationScale": 0.01,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255
}
},
"vision_default": {
"source": { "$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": { "$ref": "#net/default_vision" },
"stream": {}
},
"registration_default": {
"net": {
"peers": ["tcp://ftl-node-2:9001"]
},
"sources": [
{"uri":"ftl://utu.fi/node2#vision_default/source"}
]
},
"reconstruction_rs": {
"net": {
"peers": ["tcp://localhost:9001"],
"listen": "tcp://*:9002"
},
"sources": [
{"uri":"ftl://utu.fi#vision_rs/source"}
],
"display": { "$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/node5/rgb-d",
"reference-source" : "ftl://utu.fi#vision_default/source",
"calibration" : {
"max_error": 25,
"run": false,
......@@ -128,10 +222,174 @@
}
}
},
"ftl://gui/default": {
"reconstruction_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001"]
"peers": ["tcp://ftl-node-3:9001", "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"},
{"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/node1#vision_default/source",
"register": false,
"chain": true,
"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","ws://localhost:80/"],
"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": { "$ref": "#hash_conf/default" },
"registration": {
"reference-source" : "ftl://utu.fi/node2#vision_default/source",
"calibration" : {
"max_error": 25,
"run": false,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
}
},
"sources": [{"type": "net", "uri": "ftl://utu.fi/node/rgb-d"}]
"stream": {}
},
"reconstruction_node3": {
"net": {
"peers": ["tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
{"uri":"ftl://utu.fi/node3#vision_default/source"}
],
"display": { "$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_node34": {
"net": {
"peers": ["tcp://ftl-node-4:9001","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://localhost:9001"]
}
},
"gui_default": {
"net": {
"peers": ["tcp://localhost:9001","tcp://localhost:9002"]
}
}
}
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