From 8e759187340cc35b9ffbd5fa3466b5974361bdf7 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 14 Jun 2019 15:16:35 +0300
Subject: [PATCH] Update my copy of config
---
config/config_nick.jsonc | 342 ++++++++++++++++++++++++++++++++++-----
1 file changed, 300 insertions(+), 42 deletions(-)
diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index a34e849c6..60f7da97c 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -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"]
+ }
}
}
--
GitLab