tracker_config.yaml

debug: true
undistort: true

# Pickle file that contains fields
fields_path: "./saved_fields.pickle"

# video_source: 0
# video_source: 'ROBO_7.mp4'
video_source: 'http://192.168.0.100/mjpg/video.mjpg'

object_timeout: 30
pos_limit_x: [-50, 3600]
pos_limit_y: [-50, 2100]
map_virtual_corners: [
  [0, 0],
  [3600, 0],
  [3600, 2100],
  [0, 2100]
]

# Kalman filter
kalman_filter:
    # Sampling rate
    dt: 1
    # Acceleration magnitude
    u: 0.0
    acc_noise_mag: 0.003
    measurement_noise_x: 0.6
    measurement_noise_y: 0.6

# AruCo detector
aruco_detector:
    # Minimum window for binarization
    # Too small a window makes whole tags the same color
    adaptive_thresh_win_size_min: 10
    # Maximum window for binarization
    # Too large a window rounds the corners of the bits on the tag
    adaptive_thresh_win_size_max: 23
    # Bottom for thresholding
    # Too low a bottom causes too many candidates, too high distorts tags (probably also dependent on contrast)
    adaptive_thresh_constant: 7
    # Minimum size of candidates for tags
    # Too low checks too many candidates and affects performance
    min_marker_perimeter_rate: 0.04
    # Maximum size of candidates for tags
    # Slightly affects performance, but there are usually not too many large candidates
    max_marker_perimeter_rate: 0.1
    # Algorithm crops tag and upsamples it to x pixels per cell
    # Affects performance
    perspective_remove_pixel_per_cell: 30
    # Algorithm crops each cell and looks only at the center
    # Larger factor crops more
    perspective_remove_ignored_margin_per_cell: 0.30
    # Limit how close two tags can be
    # Because ours can be very close, we have to set this low, which can mean that
    # the same tag is detected twice, which we can filter out later
    min_marker_distance_rate: 0.001

# Camera
camera:
  # Camera parameters for removing distortion
  # These are the parameters for the camera used in the lab
  k1: -0.4077
  k2: 0.2827
  k3: -0.1436
  p1: 6.6668e-4
  p2: -0.0025
  fx: 1443
  fy: 1.509243126646947e+03
  cx: 9.678725207348843e+02
  cy: 5.356599023732050e+02
  # Scaling factors
  scale0: 0.954
  scale1: 0.00001