dragon.json

{
  "camera": {
    "intrinsics": {
      "model": "perspectiveWithoutDistortion",
      "px": 607.178,
      "py": 607.234,
      "u0": 321.391,
      "v0": 241.918
    },
    "height": 480,
    "width": 640
  },
  "vvs": {
    "gain": 1.0,
    "maxIterations": 10,
    "mu": 0.01,
    "muIterFactor": 0.1
  },
  "model": "data/dragon/dragon.bam",
  "silhouetteExtractionSettings": {
    "threshold": {
      "type": "relative",
      "value": 0.1
    },
    "sampling": {
      "samplingRate": 1,
      "numPoints": 512,
      "reusePreviousPoints": true
    }
  },
  "mask": {
    "type": "histogram",
    "bins": 32,
    "objectUpdateRate": 0.1,
    "backgroundUpdateRate": 0.1,
    "maxDepthError": 0.01,
    "computeOnlyOnBoundingBox": false
  },
  "drift": {
    "type": "probabilistic",
    "colorUpdateRate": 0.25,
    "initialColorSigma": 25.0,
    "depthSigma": 0.025,
    "filteringMaxDistance": 0.001,
    "minDistanceNewPoints": 0.005
  },
  "features": [
    {
      "type": "silhouetteColor",
      "weight": 0.1,
      "useMask": true,
      "minMaskConfidence": 0.8,
      "ccd": {
        "h": 32,
        "delta_h": 2,
        "min_h": 16
      }
    },
    {
      "type": "klt",
      "weight": 1,
      "useMask": true,
      "minMaskConfidence": 0.5,
      "maxReprojectionErrorPixels": 5.0,
      "newPointsMinPixelDistance": 4,
      "minimumNumPoints": 20,
      "blockSize": 5,
      "useHarris": true,
      "harris": 0.05,
      "maxFeatures": 500,
      "minDistance": 5.0,
      "pyramidLevels": 3,
      "quality": 0.01,
      "windowSize": 5
    }
  ]
}