From fa4d4b9937fa51b59c964eb028d517e6c412fd37 Mon Sep 17 00:00:00 2001 From: jario-jin Date: Mon, 19 Jun 2023 16:16:21 +0800 Subject: [PATCH] add params --- params/a-params/sv_algorithm_params.json | 178 ++++++++++++++++++++ params/c-params/calib_webcam_1280x720.yaml | 20 +++ params/c-params/calib_webcam_1920x1080.yaml | 20 +++ params/c-params/calib_webcam_640x480.yaml | 20 +++ 4 files changed, 238 insertions(+) create mode 100644 params/a-params/sv_algorithm_params.json create mode 100644 params/c-params/calib_webcam_1280x720.yaml create mode 100644 params/c-params/calib_webcam_1920x1080.yaml create mode 100644 params/c-params/calib_webcam_640x480.yaml diff --git a/params/a-params/sv_algorithm_params.json b/params/a-params/sv_algorithm_params.json new file mode 100644 index 0000000..81362a6 --- /dev/null +++ b/params/a-params/sv_algorithm_params.json @@ -0,0 +1,178 @@ +{ + "CommonObjectDetector": { + "dataset": "COCO", + "inputSize": 640, + "nmsThrs": 0.6, + "scoreThrs": 0.4, + "useWidthOrHeight": 1, + "withSegmentation": true, + "datasetPersonVehicle": { + "person": [0.5, 1.8], + "car": [4.1, 1.5], + "bus": [10, 3], + "truck": [-1, -1], + "bike": [-1, -1], + "train": [-1, -1], + "boat": [-1, -1], + "aeroplane": [-1, -1] + }, + "datasetDrone": { + "drone": [0.4, 0.2] + }, + "datasetCOCO": { + "person": [-1, -1], + "bicycle": [-1, -1], + "car": [-1, -1], + "motorcycle": [-1, -1], + "airplane": [-1, -1], + "bus": [-1, -1], + "train": [-1, -1], + "truck": [-1, -1], + "boat": [-1, -1], + "traffic light": [-1, -1], + "fire hydrant": [-1, -1], + "stop sign": [-1, -1], + "parking meter": [-1, -1], + "bench": [-1, -1], + "bird": [-1, -1], + "cat": [-1, -1], + "dog": [-1, -1], + "horse": [-1, -1], + "sheep": [-1, -1], + "cow": [-1, -1], + "elephant": [-1, -1], + "bear": [-1, -1], + "zebra": [-1, -1], + "giraffe": [-1, -1], + "backpack": [-1, -1], + "umbrella": [-1, -1], + "handbag": [-1, -1], + "tie": [-1, -1], + "suitcase": [-1, -1], + "frisbee": [-1, -1], + "skis": [-1, -1], + "snowboard": [-1, -1], + "sports ball": [-1, -1], + "kite": [-1, -1], + "baseball bat": [-1, -1], + "baseball glove": [-1, -1], + "skateboard": [-1, -1], + "surfboard": [-1, -1], + "tennis racket": [-1, -1], + "bottle": [-1, -1], + "wine glass": [-1, -1], + "cup": [-1, -1], + "fork": [-1, -1], + "knife": [-1, -1], + "spoon": [-1, -1], + "bowl": [-1, -1], + "banana": [-1, -1], + "apple": [-1, -1], + "sandwich": [-1, -1], + "orange": [-1, -1], + "broccoli": [-1, -1], + "carrot": [-1, -1], + "hot dog": [-1, -1], + "pizza": [-1, -1], + "donut": [-1, -1], + "cake": [-1, -1], + "chair": [-1, -1], + "couch": [-1, -1], + "potted plant": [-1, -1], + "bed": [-1, -1], + "dining table": [-1, -1], + "toilet": [-1, -1], + "tv": [-1, -1], + "laptop": [-1, -1], + "mouse": [-1, -1], + "remote": [-1, -1], + "keyboard": [-1, -1], + "cell phone": [-1, -1], + "microwave": [-1, -1], + "oven": [-1, -1], + "toaster": [-1, -1], + "sink": [-1, -1], + "refrigerator": [-1, -1], + "book": [-1, -1], + "clock": [-1, -1], + "vase": [-1, -1], + "scissors": [-1, -1], + "teddy bear": [-1, -1], + "hair drier": [-1, -1], + "toothbrush": [-1, -1] + } + }, + "AutoFocusObjectDetector": { + "lock_thres": 5, + "unlock_thres": 5, + "lock_scale_init": 12.0, + "lock_scale": 8.0, + "categories_filter": [], + "keep_unlocked": false, + "use_square_region": false + }, + "SingleObjectTracker": { + "algorithm": "nano", + "backend": 0, + "target": 0 + }, + "LandingMarkerDetector": { + "labels": ["h"], + "maxCandidates": 5 + }, + "EllipseDetector": { + "radiusInMeter": 0.5, + "preProcessingGaussKernel": 5, + "preProcessingGaussSigma": 1.306, + "thPosition": 1.0, + "maxCenterDistance": 0.05, + "minEdgeLength": 9, + "minOrientedRectSide": 2.984, + "distanceToEllipseContour": 0.111, + "minScore": 0.511, + "minReliability": 0.470, + "ns": 22, + "percentNe": 0.946, + "T_CNC": 0.121, + "T_TCN_L": 0.468, + "T_TCN_P": 0.560, + "thRadius": 0.202 + }, + "ArucoDetector": { + "dictionaryId": 10, + "markerIds": [-1], + "markerLengths": [0.2], + "adaptiveThreshConstant": 7, + "adaptiveThreshWinSizeMax": 23, + "adaptiveThreshWinSizeMin": 3, + "adaptiveThreshWinSizeStep": 10, + "aprilTagCriticalRad": 0.17453292519, + "aprilTagDeglitch": 0, + "aprilTagMaxLineFitMse": 10.0, + "aprilTagMaxNmaxima": 10, + "aprilTagMinClusterPixels": 5, + "aprilTagMinWhiteBlackDiff": 5, + "aprilTagQuadDecimate": 0.0, + "aprilTagQuadSigma": 0.0, + "cornerRefinementMaxIterations": 30, + "cornerRefinementMethod": 0, + "cornerRefinementMinAccuracy": 0.1, + "cornerRefinementWinSize": 5, + "detectInvertedMarker": false, + "errorCorrectionRate": 0.6, + "markerBorderBits": 1, + "maxErroneousBitsInBorderRate": 0.35, + "maxMarkerPerimeterRate": 4.0, + "minCornerDistanceRate": 0.05, + "minDistanceToBorder": 3, + "minMarkerDistanceRate": 0.05, + "minMarkerLengthRatioOriginalImg": 0, + "minMarkerPerimeterRate": 0.03, + "minOtsuStdDev": 5.0, + "minSideLengthCanonicalImg": 32, + "perspectiveRemoveIgnoredMarginPerCell": 0.13, + "perspectiveRemovePixelPerCell": 4, + "polygonalApproxAccuracyRate": 0.03, + "useAruco3Detection": false + } +} diff --git a/params/c-params/calib_webcam_1280x720.yaml b/params/c-params/calib_webcam_1280x720.yaml new file mode 100644 index 0000000..39df5ce --- /dev/null +++ b/params/c-params/calib_webcam_1280x720.yaml @@ -0,0 +1,20 @@ +%YAML:1.0 +--- +calibration_time: "2021年01月12日 星期二 18时08分01秒" +image_width: 1280 +image_height: 720 +flags: 0 +camera_matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0., + 7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ] +distortion_coefficients: !!opencv-matrix + rows: 1 + cols: 5 + dt: d + data: [ 2.0950200339181715e-01, -1.1587468096518483e+00, + 5.5342063671841328e-03, 2.2214393775334758e-04, + 1.7127431916651392e+00 ] +avg_reprojection_error: 2.8342964851391211e-01 diff --git a/params/c-params/calib_webcam_1920x1080.yaml b/params/c-params/calib_webcam_1920x1080.yaml new file mode 100644 index 0000000..b1fc27d --- /dev/null +++ b/params/c-params/calib_webcam_1920x1080.yaml @@ -0,0 +1,20 @@ +%YAML:1.0 +--- +calibration_time: "2021年01月12日 星期二 18时08分01秒" +image_width: 1920 +image_height: 1080 +flags: 0 +camera_matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0., + 7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ] +distortion_coefficients: !!opencv-matrix + rows: 1 + cols: 5 + dt: d + data: [ 2.0950200339181715e-01, -1.1587468096518483e+00, + 5.5342063671841328e-03, 2.2214393775334758e-04, + 1.7127431916651392e+00 ] +avg_reprojection_error: 2.8342964851391211e-01 diff --git a/params/c-params/calib_webcam_640x480.yaml b/params/c-params/calib_webcam_640x480.yaml new file mode 100644 index 0000000..abd8ab0 --- /dev/null +++ b/params/c-params/calib_webcam_640x480.yaml @@ -0,0 +1,20 @@ +%YAML:1.0 +--- +calibration_time: "2021年01月12日 星期二 18时08分01秒" +image_width: 640 +image_height: 480 +flags: 0 +camera_matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0., + 7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ] +distortion_coefficients: !!opencv-matrix + rows: 1 + cols: 5 + dt: d + data: [ 2.0950200339181715e-01, -1.1587468096518483e+00, + 5.5342063671841328e-03, 2.2214393775334758e-04, + 1.7127431916651392e+00 ] +avg_reprojection_error: 2.8342964851391211e-01