319 lines
12 KiB
JSON
319 lines
12 KiB
JSON
{
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"default_person" : {
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"debug" : false,
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"description" : "person",
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"name" : "person",
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"max_track_age" : 300.0,
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"is_static" : false,
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"min_part_confidence" : 0.001,
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"max_part_measure_age" : 5.0,
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"max_audio_measure_age" : 10.0,
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"min_audio_confidence" : 0.4,
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"out_fov_age_factor" : 1.5,
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"in_fov_margin" : 0.10,
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"min_detect_request_age" : 5.0,
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"speaking_timeout" : 1.5,
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"speaking_threshold" : 0.25,
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"head" : {
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"name" : "head",
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"debug" : false,
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"identity" : {
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"alpha" : 0.75,
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"cull" : 0.1
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},
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"enable_back_projection" : true,
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"default_ramge" : 2.5,
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"use_pseudo_range" : true,
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"extent_x" : 0.25,
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"extent_y" : 0.25,
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"extent_z" : 0.25,
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"vel_decay" : 0.5,
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"vel_max" : 1.9,
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"linear_psd" : 10.0,
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"min_state_covariance" : 0.0001,
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"pseudo_range_covariance" : 0.9,
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"auto_add_tracker" : false,
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"auto_add_tracker_skip" : 20,
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"pose_filter":0.0,
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"tracker_type" : "tracker_2",
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"tracker_1" : {
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"tracker_class" : "color_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 640,
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"image_height" : 360,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"color_tracker" : {
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"model_debug" : false,
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"track_debug" : false,
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"drop_area_too_big" : 120000.0,
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"drop_area_too_small" : 600.0,
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"search_size_horizontal_scale" : 20,
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"search_size_vertical_scale" : 20,
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"area_filter" : 0.6,
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"model" : {
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"y_min" : 25,
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"y_max" : 250,
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"color_threshold_min" : 10,
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"color_threshold_max" : 25
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},
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"camshift" : {
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"max_iterations" : 6,
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"area_scale" : 10.0,
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"area_aspect" : 1.2
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},
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"kmeans" : {
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"K" : 2,
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"max_iterations" : 10,
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"convergence" : 0.01
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}
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}
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},
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"tracker_2" : {
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"tracker_class" : "abcshift_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 640,
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"image_height" : 360,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"abcshift_tracker" : {
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"drop_area_too_big" : 120000.0,
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"drop_area_too_small" : 600.0,
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"search_size_horizontal_scale" : 20,
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"search_size_vertical_scale" : 20,
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"area_filter" : 0.6,
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"max_iterations" : 6,
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"area_scale" : 1.3,
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"area_aspect" : 1.2,
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"bhattacharyya_threshold" : 0.5,
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"model" : {
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"y_min" : 5,
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"y_max" : 250,
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"color_threshold_min" : 5,
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"color_threshold_max" : 10
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},
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"background" : {
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"minX" : 0,
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"maxX" : 255,
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"binsX" : 256,
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"minY" : 0,
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"maxY" : 255,
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"binsY" : 256
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},
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"foreground" : {
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"minX" : 0,
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"maxX" : 255,
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"binsX" : 256,
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"minY" : 0,
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"maxY" : 255,
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"binsY" : 256
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}
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}
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},
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"tracker_3" : {
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"tracker_class" : "correlation_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 640,
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"image_height" : 360,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"correlation_tracker" : {
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"filter_size" : 6,
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"num_scale_levels" : 5,
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"scale_window_size" : 23,
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"regularizer_space" : 0.001,
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"nu_space" : 0.025,
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"regularizer_scale" : 0.001,
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"nu_scale" : 0.025,
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"scale_pyramid_alpha" : 1.020,
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"side_lobe_ratio_threshold": 12.0
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}
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},
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"tracker_4" : {
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"tracker_class" : "face_landmark_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 640,
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"image_height" : 360,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"face_landmark_tracker" : { }
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},
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"tracker_5" : {
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"tracker_class" : "composite_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 1280,
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"image_height" : 720,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"composite_tracker" : {
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"trackers" : {
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"color" : {
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"tracker_class" : "abcshift_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : true,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 220.0,
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"image_width" : 640,
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"image_height" : 360,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.9,
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"min_confidence" : 0.05,
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"measure_interval": 0.067
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},
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"abcshift_tracker" : {
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"drop_area_too_big" : 120000.0,
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"drop_area_too_small" : 600.0,
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"search_size_horizontal_scale" : 20,
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"search_size_vertical_scale" : 20,
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"area_filter" : 0.6,
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"max_iterations" : 6,
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"area_scale" : 1.3,
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"area_aspect" : 1.2,
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"bhattacharyya_threshold" : 0.5,
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"model" : {
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"y_min" : 5,
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"y_max" : 250,
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"color_threshold_min" : 5,
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"color_threshold_max" : 25
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},
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"background" : {
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"minX" : 0,
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"maxX" : 255,
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"binsX" : 64,
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"minY" : 0,
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"maxY" : 255,
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"binsY" : 64
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},
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"foreground" : {
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"minX" : 0,
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"maxX" : 255,
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"binsX" : 64,
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"minY" : 0,
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"maxY" : 255,
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"binsY" : 64
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}
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}
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}
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}
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}
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}
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}
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},
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"default_motion" : {
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"debug" : false,
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"description" : "motion",
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"name" : "motion",
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"max_track_age" : 20.0,
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"is_static" : false,
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"max_part_measure_age" : 1.0,
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"max_audio_measure_age" : 0.1,
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"out_fov_age_factor" : 0.1,
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"motion" : {
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"name" : "motion",
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"debug" : false,
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"enable_back_projection" : true,
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"default_ramge" : 2.5,
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"use_pseudo_range" : true,
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"extent_x" : 0.25,
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"extent_y" : 0.25,
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"extent_z" : 0.25,
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"vel_decay" : 0.999,
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"vel_limit" : 3.0,
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"linear_psd" : 0.10,
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"min_state_covariance" : 0.001,
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"pseudo_range_covariance" : 0.5,
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"fixed_pseudo_range" : 2.0,
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"auto_add_tracker" : false,
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"auto_add_tracker_skip" : 5,
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"confidence_filter" : 0.9,
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"pose_filter":0.0,
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"tracker_type" : "tracker_1",
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"tracker_1" : {
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"tracker_class" : "motion_tracker",
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"image_tracker" : {
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"debug" : false,
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"image_debug" : false,
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"name" : "A",
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"use_image_velocity" : false,
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"vel_scale" : 0.9,
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"vel_filter" : 0.75,
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"base_covar" : 200.0,
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"image_width" : 128,
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"image_height" : 128,
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"track_confidence_filter" : 0.6,
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"model_confidence_filter" : 0.5,
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"min_confidence" : 0.001,
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"measure_interval": 0.001
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},
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"motion_tracker" : {
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"background_threshold" : 5,
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"drop_area_too_big" : 1600.0,
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"drop_area_too_small" : 100.0,
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"search_size_horizontal_scale" : 5,
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"search_size_vertical_scale" : 5,
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"camshift" : {
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"max_iterations" : 6,
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"area_scale" : 3.0,
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"area_aspect" : 2.0
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}
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}
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}
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}
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}
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}
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