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

{
  "referenceCameraName": "Color",
  "trackers": {
    "Color": {
      "angleAppear": 65.0,
      "angleDisappear": 75.00000000000001,
      "camTref": {
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        "data": [
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        ],
        "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
      },
      "model": "model/cube/cube.cao",
      "type": [
        "edge",
        "klt"
      ],
      "visibilityTest": {
        "ogre": false,
        "scanline": true
      }
    },
    "Depth": {
      "angleAppear": 70.0,
      "angleDisappear": 80.0,
      "camTref": {
        "cols": 4,
        "data": [
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          -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
      },
      "model": "model/cube/cube.cao",
      "visibilityTest": {
        "ogre": false,
        "scanline": true
      }
    }
  },
  "vvs": {
    "lambda": 1.0,
    "maxIter": 30,
    "initialMu": 0.01
  },
  "version": "1.0"
}