{
"version": 4,
"camera_type": "unknown",
"general_config": {
"log_level": "debug",
"log_to_console": false,
"new_frame_timeout": 10
},
"config":{
"__comment__": "These parameters will be used for all camras in the capture",
"general":{
"camera_config": {
"fps": 0,
"color_height": 0,
"depth_height": 0,
"alignment": "auto"
},
"processing": {
"threshold_near": 0.5,
"threshold_far": 2.5,
"depth_x_erosion": 0,
"depth_y_erosion": 0,
"remove_floor": false,
"remove_roof": false,
"floor_height": 0.05,
"roof_height": 2.4,
"filter_depth": true,
"neigh_size": 5,
"depth_threshold": 0.1,
"correct_color": true,
"color_calibr_cooldown": 60,
"color_corr_period": -1,
"mask_color": true,
"bounding_box": {
"xMin": -1.5,
"xMax": 1.5,
"yMin": -0.5,
"yMax": 2.5,
"zMin": -1.5,
"zMax": 1.5
}
},
"device":{
"__Camera_harware_config__": "orbbec, kinect",
"_color_exposure": 500,
"_color_brightness": 128,
"_color_contrast": 5,
"_color_saturation": 0,
"_color_sharpness": 2,
"_color_white_balance": 4500,
"_color_gain": 128,
"_color_power_line_frquency": 1,
"__Recorder__": "recorder",
"input_path": "",
"input_config": "cameraconfig",
"input_calib": "metadata",
"framerate_config": "cameraconfig",
"loop_frames": true,
"allow_frame_loss": true,
"ensure_first": false,
"first_frame": 0,
"last_frame": -1,
"max_attempts": 5,
"retry_delay_ms": 200,
"__Orbbec__": "orbbec",
"_extensions_path": "",
"_sdk_config_file": "",
"log_level": "",
"free_idle_memory": 0,
"num_devices": -1,
"primary_serial": "",
"primary": false,
"force_sync_config": false,
"_color_hdr": 1,
"_depth_exposure": 5000
}
},
"serial1":{
"__comment__": "These parameters will overwrite the general ones for the specified camera",
"processing": {
"threshold_near": 0.8,
"threshold_far": 3
},
"device": {
"__comment__": "Only valid for Orbbec and Kinect",
"color_exposure": 2000
}
}
},
"recorder_config": {
"record_frames": "",
"process_data": false,
"save_color": false,
"save_depth": false,
"save_pm": false,
"save_depth_encoded": false,
"save_normlas": false
},
"output_config": {
"representation_type": "depth",
"normals": false,
"general_purpose": false
},
"__comment_calibration__": {
"1": "If not given, all connected cameras will be used. Otherwise, use it to pass the calibration",
"2": "If given as list, only start given cameras"
},
"__calibation": ["serial1", "serial2"],
"calibration": {
"serial1":{
"trafo": [
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0
]
},
"serial2":{
"trafo": [
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0
]
}
}
}