From abceb80ccfef8ac0fd89ab7f5efc9065a482677b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 23 Jul 2019 15:11:48 +0300
Subject: [PATCH] Updated MLS config
---
config/config_nick.jsonc | 468 ++++++++++++++++++++++++++++++---------
1 file changed, 368 insertions(+), 100 deletions(-)
diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index 64f387278..5db2d94d5 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -3,7 +3,6 @@
"$schema": "",
"calibrations": {
"default": {
- "intrinsics": "intrinsics.yml",
"board_size": [9,6],
"square_size": 50,
"frame_delay": 1.0,
@@ -34,15 +33,28 @@
"window_size": 5,
"sigma": 1.5,
"lambda": 8000.0,
- "use_filter": true,
- "filter_iter": 1,
- "filter_radius": 7,
- "uniqueness": 0.75
+ "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": {
- "uri": "device:video",
+ "type": "stereovideo",
"feed": {
"flip": false,
"nostereo": false,
@@ -61,15 +73,14 @@
"localhost": {},
"realsense": {
"uri": "device:realsense"
- },
- "snap": { "uri": "file:///home/nick/Pictures/FTL/snap.tar.gz" }
+ }
},
// Listen to localhost
"net": {
"default_vision": {
- "peers": [],
- "listen": "tcp://*:9001"
+ "listen": "tcp://*:9001",
+ "peers": []
},
"default_reconstruct": {
"listen": "tcp://*:9002",
@@ -112,8 +123,8 @@
"focal": 700,
"width": 1280,
"height": 720,
- "max_depth": 15.0,
- "min_depth": 0.05,
+ "max_depth": 10.0,
+ "min_depth": 0.1,
"SDFUseGradients": false,
"showBlockBorders": false
},
@@ -122,28 +133,40 @@
},
"hash_conf": {
"default": {
- "sensorDepthMax": 20.0,
+ "sensorDepthMax": 15.0,
"sensorDepthMin": 0.2,
- "hashNumBuckets": 5000000,
- "hashNumSDFBlocks": 500000,
- "SDFVoxelSize": 0.006,
- "SDFMaxIntegrationDistance": 20.0,
- "SDFTruncation": 0.05,
- "SDFTruncationScale": 0.001,
+ "hashNumBuckets": 10000000,
+ "SDFVoxelSize": 0.004,
+ "SDFMaxIntegrationDistance": 12.0,
+ "SDFTruncation": 0.1,
+ "SDFTruncationScale": 0.005,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255,
"showRegistration": false,
+ "colourSmoothing": 20.0,
+ "colourInfluence": 2.0,
+ "spatialSmoothing": 0.04,
+ "confidenceThreshold": 20.0,
+ "clipping": false,
+ "bbox_x_max": 1.5,
+ "bbox_x_min": -1.5,
+ "bbox_y_max": 3.0,
+ "bbox_y_min": -3.0,
+ "bbox_z_max": 3.0,
+ "bbox_z_min": 0.0,
"cudaDevice": 1
},
"rs": {
"sensorDepthMax": 20.0,
"sensorDepthMin": 0.2,
+ "SDFUseGradients": false,
"hashNumBuckets": 500000,
- "hashNumSDFBlocks": 500000,
- "SDFVoxelSize": 0.01,
+ "hashMaxCollisionLinkedListSize": 7,
+ "hashNumSDFBlocks": 1200000,
+ "SDFVoxelSize": 0.002,
"SDFMaxIntegrationDistance": 12.0,
- "SDFTruncation": 0.01,
- "SDFTruncationScale": 0.005,
+ "SDFTruncation": 0.1,
+ "SDFTruncationScale": 0.01,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255
}
@@ -156,6 +179,7 @@
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
+
"vision_rs": {
"source": { "$ref": "#sources/realsense" },
"middlebury": { "$ref": "#middlebury/none" },
@@ -163,56 +187,100 @@
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
- "vision_snap": {
- "source": { "$ref": "#sources/snap", "index": 1 },
- "middlebury": { "$ref": "#middlebury/none" },
- "display": { "$ref": "#displays/none" },
- "net": { "$ref": "#net/default_vision" },
- "stream": {}
- },
-
+
"registration_default": {
"net": {
- "peers": []
+ "peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-3:9001", "tcp://ftl-node-1:9001"]
},
"sources": [
- {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#0", "index": 0},
- {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#1", "index": 1}
+ { "$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
+ },
- "reconstruction_default": {
+ "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_default/source"}
+ {"uri":"ftl://utu.fi#vision_rs/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
- "voxelhash": { "$ref": "#hash_conf/default" },
- "registration": {
- "reference-source" : "ftl://utu.fi#vision_default/source",
- "calibration" : {
- "max_error": 25,
- "run": false,
- "iterations" : 10,
- "delay" : 500,
- "patternsize" : [9, 6]
- }
+ "voxelhash": { "$ref": "#hash_conf/rs" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node4#vision_default/source",
+ "register": false,
+ "chain": true,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
}
},
-
- "reconstruction_web": {
+
+ "reconstruction_default": {
"net": {
- "peers": ["tcp://localhost:9001","ws://localhost:8080/"],
- "listen": "tcp://*:9002"
+ "peers": ["tcp://localhost:9001"]
},
"sources": [
- {"uri":"ftl://utu.fi#vision_default/source"}
+ {"type": "net", "uri":"ftl://utu.fi#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
@@ -231,117 +299,317 @@
"reconstruction_lab": {
"net": {
- "peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-5:9001"]
+ "peers": ["tcp://ftl-node-4:9001",
+ "tcp://ftl-node-1:9001",
+ "tcp://ftl-node-3:9001"],
+ "listen": "tcp://*:9001"
},
"sources": [
- {"type": "net", "uri":"ftl://utu.fi/node4#vision_default/source"},
- {"type": "net", "uri":"ftl://utu.fi/node5#vision_default/source"}
+ //{"uri":"ftl://utu.fi/node2#vision_default/source"},
+ {"uri":"ftl://utu.fi/node1#vision_default/source"},
+ {"uri":"ftl://utu.fi/node3#vision_default/source"},
+ {"uri":"ftl://utu.fi/node4#vision_default/source"}
+ //{"uri":"ftl://utu.fi/node5#vision_default/source"},
+ //{"uri":"ftl://utu.fi/node6#vision_default/source"}
],
- "display": { "$ref": "#displays/none" },
+ "display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
- "registration": {
- "reference-source" : "ftl://utu.fi/node4#vision_default/source",
- "calibration" : {
- "max_error": 25,
- "run": false,
- "iterations" : 10,
- "delay" : 500,
- "patternsize" : [9, 6]
- }
+ "merge": {
+ "$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_rs": {
+
+ "reconstruction_lab12": {
"net": {
- "peers": ["tcp://localhost:9001"],
- "listen": "tcp://*:9002"
+ "peers": ["tcp://ftl-node-1:9001",
+ "tcp://ftl-node-2:9001"],
+ "listen": "tcp://*:9001"
},
"sources": [
- {"uri":"ftl://utu.fi#vision_rs/source"}
+ {"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": { "$ref": "#hash_conf/rs" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
- "targetsource" : "ftl://utu.fi#vision_rs/source",
+ "targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
- "chain": true,
+ "chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
- }
+ },
+ "stream": {}
},
-
- "reconstruction_snap": {
+
+ "reconstruction_lab45": {
"net": {
- "peers": [],
- "listen": "tcp://*:9002"
+ "peers": ["tcp://ftl-node-4:9001",
+ "tcp://ftl-node-5:9001"],
+ "listen": "tcp://*:9001"
},
"sources": [
- {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#0", "index": 0, "gamma": 1.2, "temperature": 7500},
- {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#1", "index": 1, "gamma": 0.8, "temperature": 6500, "scaling": 1.01}
+ {"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
+ {"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
- "targetsource" : "file:///home/nick/Pictures/FTL/snap.tar.gz#1",
+ "targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
- "chain": true,
+ "chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
- }
+ },
+ "stream": {}
},
-
- "reconstruction_playroom": {
+
+ "reconstruction_lab1345": {
"net": {
- "peers": [],
- "listen": "tcp://*:9002"
+ "peers": ["tcp://ftl-node-4:9001",
+ "tcp://ftl-node-5:9001",
+ "tcp://ftl-node-1:9001",
+ "tcp://ftl-node-3:9001"],
+ "listen": "tcp://*:9001"
},
"sources": [
- {"uri":"file:///home/nick/Documents/Playroom-perfect/", "scaling": 0.3}
+ {"uri":"ftl://utu.fi/node1#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
+ {"uri":"ftl://utu.fi/node3#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
+ {"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
+ {"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
"$id": "ftl://blah/blah",
- "targetsource" : "file:///home/nick/Documents/Playroom-perfect/",
+ "targetsource" : "ftl://utu.fi/node2#vision_default/source",
"register": false,
- "chain": true,
+ "chain": false,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
- }
+ },
+ "stream": {}
+ },
+
+ "reconstruction_lab35": {
+ "net": {
+ "peers": ["tcp://ftl-node-3:9001",
+ "tcp://ftl-node-5:9001"],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"ftl://utu.fi/node3#vision_default/source"},
+ {"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.2}
+ ],
+ "display": { "$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": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node2#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
- "gui_node5": {
+ "reconstruction_node4": {
"net": {
- "peers": ["tcp://ftl-node-5:9001"]
+ "peers": ["tcp://ftl-node-4:9001","ws://localhost:80/"],
+ "listen": "tcp://*:9001"
},
- "sources": [{"type": "net", "uri": "ftl://utu.fi/node5#vision_default/source"}]
+ "sources": [
+ {"uri":"ftl://utu.fi/node4#vision_default/source"}
+ ],
+ "display": { "$ref": "#displays/none" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node1#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
},
- "gui_default": {
+ "reconstruction_node1": {
+ "net": {
+ "peers": ["tcp://ftl-node-1:9001"],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"ftl://utu.fi/node1#vision_default/source"}
+ ],
+ "display": { "$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://localhost:9002"]
+ "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]
},
- "sources": [],
- "source": {"uri": "ftl://utu.fi#vision_default/source"}
+ "stream": {}
},
-
- "gui_web": {
+
+
+ "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": ["ws://localhost:8080/"]
+ "peers": ["tcp://localhost:9001"]
}
}
}
--
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