Tracking.xml

<?xml version="1.0" encoding="UTF-8"?>
<TrackingData>
    <Sensors>
        <Sensor subtype="ML3D" type="FeatureBasedSensorSource">
            <SensorID>FeatureBasedSensorSource_0</SensorID>
            <Parameters>
                <featuredescriptoralignment>gravity</featuredescriptoralignment>
            </Parameters>
            <SensorCOS>
                <SensorCosID>571158eac8d9be7a5b45760d64a5faac</SensorCosID>
                <parameters>
                    <!-- SourceSensorID to distinguish where this cos comes from -->
                    <sourcesensorid>FeatureTracking1</sourcesensorid>
                    <minmatches>20</minmatches>
                    <mintrackingmatches>20</mintrackingmatches>
                    <numextensiblefeatures>400</numextensiblefeatures>
                    <usetriangulation>1</usetriangulation>
                    <gravityvector>
                        <x>0.0</x>
                        <y>0.0</y>
                        <z>-1.0</z>
                    </gravityvector>
                    <gravitytoleranceangle>20.0</gravitytoleranceangle>
                    <map>571158eac8d9be7a5b45760d64a5faac.f3b</map>
                </parameters>
            </SensorCOS>
        </Sensor>
    </Sensors>
    <Connections>
        <COS>
            <Name>COS_1</Name>
            <Fuser type="SmoothingFuser">
                <Parameters>
                    <AlphaRotation>0.5</AlphaRotation>
                    <AlphaTranslation>0.8</AlphaTranslation>
                    <GammaRotation>0.5</GammaRotation>
                    <GammaTranslation>0.8</GammaTranslation>
                    <KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
                </Parameters>
            </Fuser>
            <SensorSource trigger="1">
                <SensorID>FeatureBasedSensorSource_0</SensorID>
                <SensorCosID>571158eac8d9be7a5b45760d64a5faac</SensorCosID>
                <HandEyeCalibration>
                    <TranslationOffset>
                        <x>0</x>
                        <y>0</y>
                        <z>0</z>
                    </TranslationOffset>
                    <RotationOffset>
                        <x>0</x>
                        <y>0</y>
                        <z>0</z>
                        <w>1</w>
                    </RotationOffset>
                </HandEyeCalibration>
                <COSOffset>
                    <TranslationOffset>
                        <x>0</x>
                        <y>0</y>
                        <z>0</z>
                    </TranslationOffset>
                    <RotationOffset>
                        <x>0</x>
                        <y>0</y>
                        <z>0</z>
                        <w>1</w>
                    </RotationOffset>
                </COSOffset>
            </SensorSource>
        </COS>
    </Connections>
</TrackingData>