realsense-color-and-depth-with-model-path.json

{
    "referenceCameraName": "Color",
    "model": "model/cube/cube.cao",
    "trackers": {
        "Color": {
            "angleAppear": 65.0,
            "angleDisappear": 75.00000000000001,
            "camTref": {
                "cols": 4,
                "data": [
                    1.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    1.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    1.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ],
                "rows": 4,
                "type": "vpHomogeneousMatrix"
            },
            "camera": {
                "model": "perspectiveWithoutDistortion",
                "px": 605.146728515625,
                "py": 604.79150390625,
                "u0": 325.53253173828125,
                "v0": 244.95083618164063
            },
            "clipping": {
                "far": 0.9,
                "flags": [
                    "all"
                ],
                "near": 0.1
            },
            "display": {
                "features": true,
                "projectionError": true
            },
            "edge": {
                "maskSign": 0,
                "maskSize": 5,
                "minSampleStep": 4.0,
                "mu": [
                    0.5,
                    0.5
                ],
                "nMask": 180,
                "ntotalSample": 0,
                "pointsToTrack": 500,
                "range": 7,
                "sampleStep": 4.0,
                "strip": 2,
                "thresholdType": "old",
                "threshold": 5000.0
            },
            "klt": {
                "blockSize": 3,
                "harris": 0.01,
                "maskBorder": 5,
                "maxFeatures": 300,
                "minDistance": 5.0,
                "pyramidLevels": 3,
                "quality": 0.01,
                "windowSize": 5
            },
            "lod": {
                "minLineLengthThresholdGeneral": 50.0,
                "minPolygonAreaThresholdGeneral": 2500.0,
                "useLod": false
            },
            "type": [
                "edge",
                "klt"
            ],
            "visibilityTest": {
                "ogre": false,
                "scanline": true
            }
        },
        "Depth": {
            "angleAppear": 70.0,
            "angleDisappear": 80.0,
            "camTref": {
                "cols": 4,
                "data": [
                    0.999972403049469,
                    -0.006713358219712973,
                    -0.003179509425535798,
                    -0.01465611346065998,
                    0.006699616555124521,
                    0.9999682307243347,
                    -0.004313052631914616,
                    9.024870814755559e-05,
                    0.003208363428711891,
                    0.00429163221269846,
                    0.9999856352806091,
                    -0.0004482123476918787,
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ],
                "rows": 4,
                "type": "vpHomogeneousMatrix"
            },
            "camera": {
                "model": "perspectiveWithoutDistortion",
                "px": 381.7528076171875,
                "py": 381.7528076171875,
                "u0": 323.3261413574219,
                "v0": 236.82505798339844
            },
            "clipping": {
                "far": 2.0,
                "flags": [
                    "all"
                ],
                "near": 0.01
            },
            "dense": {
                "sampling": {
                    "x": 1,
                    "y": 1
                }
            },
            "normals": {
                "featureEstimationMethod": "robust",
                "pcl": {
                    "method": 2,
                    "ransacMaxIter": 200,
                    "ransacThreshold": 0.001
                },
                "sampling": {
                    "x": 2,
                    "y": 2
                }
            },
            "type": [
                "depthDense",
                "depthNormal"
            ],
            "display": {
                "features": true,
                "projectionError": true
            },
            "lod": {
                "minLineLengthThresholdGeneral": 50.0,
                "minPolygonAreaThresholdGeneral": 2500.0,
                "useLod": false
            },
            "visibilityTest": {
                "ogre": false,
                "scanline": true
            }
        }
    },
    "vvs" :{
      "lambda": 1.0,
      "maxIter": 30,
      "initialMu": 0.01
    },
    "version": "1.0"
}