diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index 467d455c8712754bb8a07a20318d83fd97e4c59b..64f3872785d5343cbd42e873e3c0988841b8da8a 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -3,6 +3,7 @@
"$schema": "",
"calibrations": {
"default": {
+ "intrinsics": "intrinsics.yml",
"board_size": [9,6],
"square_size": 50,
"frame_delay": 1.0,
@@ -33,14 +34,15 @@
"window_size": 5,
"sigma": 1.5,
"lambda": 8000.0,
- "use_filter": false,
- "filter_iter": 3,
- "filter_radius": 7
+ "use_filter": true,
+ "filter_iter": 1,
+ "filter_radius": 7,
+ "uniqueness": 0.75
}
},
"sources": {
"stereocam": {
- "type": "stereovideo",
+ "uri": "device:video",
"feed": {
"flip": false,
"nostereo": false,
@@ -59,14 +61,15 @@
"localhost": {},
"realsense": {
"uri": "device:realsense"
- }
+ },
+ "snap": { "uri": "file:///home/nick/Pictures/FTL/snap.tar.gz" }
},
// Listen to localhost
"net": {
"default_vision": {
- "listen": "tcp://*:9001",
- "peers": []
+ "peers": [],
+ "listen": "tcp://*:9001"
},
"default_reconstruct": {
"listen": "tcp://*:9002",
@@ -103,51 +106,44 @@
"raycaster": {
"hash_renderer": true,
"SDFRayIncrementFactor": 0.5,
- "SDFTruncation": 0.02,
+ "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
+ "max_depth": 15.0,
+ "min_depth": 0.05,
+ "SDFUseGradients": false,
+ "showBlockBorders": false
},
"uri": "device:virtual"
}
},
"hash_conf": {
"default": {
- "adapterWidth": 640,
- "adapterHeight": 480,
"sensorDepthMax": 20.0,
"sensorDepthMin": 0.2,
- "SDFRayIncrementFactor": 0.8,
- "SDFRayThresSampleDistFactor": 50.5,
- "SDFRayThresDistFactor": 50.0,
- "SDFUseGradients": false,
- "hashNumBuckets": 500000,
- "hashMaxCollisionLinkedListSize": 7,
- "hashNumSDFBlocks": 1000000,
- "SDFVoxelSize": 0.003,
- "SDFMaxIntegrationDistance": 12.0,
- "SDFTruncation": 0.02,
+ "hashNumBuckets": 5000000,
+ "hashNumSDFBlocks": 500000,
+ "SDFVoxelSize": 0.006,
+ "SDFMaxIntegrationDistance": 20.0,
+ "SDFTruncation": 0.05,
"SDFTruncationScale": 0.001,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255,
- "hash_renderer": true
+ "showRegistration": false,
+ "cudaDevice": 1
},
"rs": {
"sensorDepthMax": 20.0,
"sensorDepthMin": 0.2,
- "SDFUseGradients": false,
"hashNumBuckets": 500000,
- "hashMaxCollisionLinkedListSize": 7,
- "hashNumSDFBlocks": 1000000,
- "SDFVoxelSize": 0.003,
+ "hashNumSDFBlocks": 500000,
+ "SDFVoxelSize": 0.01,
"SDFMaxIntegrationDistance": 12.0,
"SDFTruncation": 0.01,
- "SDFTruncationScale": 0.01,
+ "SDFTruncationScale": 0.005,
"SDFIntegrationWeightSample": 10,
"SDFIntegrationWeightMax": 255
}
@@ -160,7 +156,6 @@
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
-
"vision_rs": {
"source": { "$ref": "#sources/realsense" },
"middlebury": { "$ref": "#middlebury/none" },
@@ -168,7 +163,14 @@
"net": { "$ref": "#net/default_vision" },
"stream": {}
},
-
+ "vision_snap": {
+ "source": { "$ref": "#sources/snap", "index": 1 },
+ "middlebury": { "$ref": "#middlebury/none" },
+ "display": { "$ref": "#displays/none" },
+ "net": { "$ref": "#net/default_vision" },
+ "stream": {}
+ },
+
"registration_default": {
"net": {
"peers": []
@@ -180,35 +182,37 @@
"origin": 0
},
- "reconstruction_rs": {
+
+ "reconstruction_default": {
"net": {
"peers": ["tcp://localhost:9001"],
"listen": "tcp://*:9002"
},
"sources": [
- {"uri":"ftl://utu.fi#vision_rs/source"}
+ {"uri":"ftl://utu.fi#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
- "voxelhash": { "$ref": "#hash_conf/rs" },
- "merge": {
- "$id": "ftl://blah/blah",
- "targetsource" : "ftl://utu.fi/node4#vision_default/source",
- "register": false,
- "chain": true,
- "maxerror": 100,
- "iterations" : 10,
- "delay" : 500,
- "patternsize" : [9, 6]
+ "voxelhash": { "$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_default": {
+
+ "reconstruction_web": {
"net": {
- "peers": ["tcp://localhost:9001"]
+ "peers": ["tcp://localhost:9001","ws://localhost:8080/"],
+ "listen": "tcp://*:9002"
},
"sources": [
- {"type": "net", "uri":"ftl://utu.fi#vision_default/source"}
+ {"uri":"ftl://utu.fi#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
@@ -227,171 +231,117 @@
"reconstruction_lab": {
"net": {
- "peers": ["tcp://ftl-node-3:9001", "tcp://ftl-node-1:9001", "tcp://ftl-node-2:9001"],
- "listen": "tcp://*:9001"
+ "peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-5:9001"]
},
"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"}
+ {"type": "net", "uri":"ftl://utu.fi/node4#vision_default/source"},
+ {"type": "net", "uri":"ftl://utu.fi/node5#vision_default/source"}
],
- "display": { "$ref": "#displays/left" },
+ "display": { "$ref": "#displays/none" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
- "merge": {
- "$id": "ftl://blah/blah",
- "targetsource" : "ftl://utu.fi/node1#vision_default/source",
- "register": false,
- "chain": true,
- "maxerror": 100,
- "iterations" : 10,
- "delay" : 500,
- "patternsize" : [9, 6]
+ "registration": {
+ "reference-source" : "ftl://utu.fi/node4#vision_default/source",
+ "calibration" : {
+ "max_error": 25,
+ "run": false,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ }
},
"stream": {}
},
-
- "reconstruction_node4": {
+
+ "reconstruction_rs": {
"net": {
- "peers": ["tcp://ftl-node-4:9001","ws://localhost:80/"],
- "listen": "tcp://*:9001"
+ "peers": ["tcp://localhost:9001"],
+ "listen": "tcp://*:9002"
},
"sources": [
- {"uri":"ftl://utu.fi/node4#vision_default/source"}
+ {"uri":"ftl://utu.fi#vision_rs/source"}
],
- "display": { "$ref": "#displays/none" },
+ "display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
- "voxelhash": { "$ref": "#hash_conf/default" },
+ "voxelhash": { "$ref": "#hash_conf/rs" },
"merge": {
"$id": "ftl://blah/blah",
- "targetsource" : "ftl://utu.fi/node1#vision_default/source",
+ "targetsource" : "ftl://utu.fi#vision_rs/source",
"register": false,
- "chain": false,
+ "chain": true,
"maxerror": 100,
"iterations" : 10,
"delay" : 500,
"patternsize" : [9, 6]
- },
- "stream": {}
+ }
},
-
- "reconstruction_node1": {
+
+ "reconstruction_snap": {
"net": {
- "peers": ["tcp://ftl-node-1:9001","ws://localhost:80/"],
- "listen": "tcp://*:9001"
+ "peers": [],
+ "listen": "tcp://*:9002"
},
"sources": [
- {"uri":"ftl://utu.fi/node1#vision_default/source"}
+ {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#0", "index": 0, "gamma": 1.2, "temperature": 7500},
+ {"uri":"file:///home/nick/Pictures/FTL/snap.tar.gz#1", "index": 1, "gamma": 0.8, "temperature": 6500, "scaling": 1.01}
],
- "display": { "$ref": "#displays/none" },
+ "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",
+ "targetsource" : "file:///home/nick/Pictures/FTL/snap.tar.gz#1",
"register": false,
- "chain": false,
+ "chain": true,
"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": { "$ref": "#hash_conf/default" },
- "registration": {
- "reference-source" : "ftl://utu.fi/node2#vision_default/source",
- "calibration" : {
- "max_error": 25,
- "run": false,
- "iterations" : 10,
- "delay" : 500,
- "patternsize" : [9, 6]
- }
- },
- "stream": {}
+ }
},
-
- "reconstruction_node3": {
+
+ "reconstruction_playroom": {
"net": {
- "peers": ["tcp://ftl-node-3:9001"],
- "listen": "tcp://*:9001"
+ "peers": [],
+ "listen": "tcp://*:9002"
},
"sources": [
- {"uri":"ftl://utu.fi/node3#vision_default/source"}
+ {"uri":"file:///home/nick/Documents/Playroom-perfect/", "scaling": 0.3}
],
- "display": { "$ref": "#displays/none" },
+ "display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
"voxelhash": { "$ref": "#hash_conf/default" },
"merge": {
- "targetsource" : "ftl://utu.fi/node4#vision_default/source",
+ "$id": "ftl://blah/blah",
+ "targetsource" : "file:///home/nick/Documents/Playroom-perfect/",
"register": false,
- "chain": false,
- "maxerror": 25,
+ "chain": true,
+ "maxerror": 100,
"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"]
- }
+ },
+ "sources": [{"type": "net", "uri": "ftl://utu.fi/node5#vision_default/source"}]
},
- "gui_all": {
+ "gui_default": {
"net": {
- "peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-5:9001", "tcp://localhost:9001"]
- }
+ "peers": ["tcp://localhost:9002"]
+ },
+ "sources": [],
+ "source": {"uri": "ftl://utu.fi#vision_default/source"}
},
-
- "gui_default": {
+
+ "gui_web": {
"net": {
- "peers": ["tcp://localhost:9001","tcp://localhost:9002"]
+ "peers": ["ws://localhost:8080/"]
}
}
}