config.json

{
  "startup": {
    "data_source_type": "filesystem",
    "operation_mode": "debug",
    "viewer_type": "gl",
    "read_location": "/mnt/Downloads/perception-files/data",
    "write_location": "/mnt/Downloads/perception-files/data5",
    "ar_tag_enabled": 0,
    "obs_enabled": 1
  },
  "camera": {
    "threshold_confidence": 90,
    "frame_write_interval": 10,
    "resolution_width": 320,
    "resolution_height": 180,
    "zed_params": {
      "focalLength": 2.8,
      "camera_fps": 100
    }
  },
  "ar_tag": {
    "default_tag_val": -1,
    "buffer_iterations": 20,
    "alvar_params": {
      "marker_border_bits": 2,
      "do_corner_refinement": 0,
      "polygonal_approx_accuracy_rate": 0.08
    }
  },
  "alvar_params": {
    "marker_border_bits": 2,
    "do_corner_refinement": 0,
    "polygonal_approx_accuracy_rate": 0.08
  },
  "pt_cloud": {
    "max_field_of_view_angle": 70,
    "pt_cloud_width": 320,
    "pt_cloud_height": 180,
    "rover_w_mm": 1168,
    "half_rover": 584,
    "center_x": 0,
    "downsample_voxel_filter": 20.0,
    "ransac": {
      "max_iterations": 400,
      "segmentation_epsilon": 10,
      "distance_threshold": 100
    },
    "pass_through": {
      "upper_bd_z": 7000.0,
      "upper_bd_y": 3000.0,
      "lower_bd": 0.0
    },
    "euclidean_cluster": {
      "cluster_tolerance": 60,
      "min_cluster_size": 20,
      "max_cluster_size": 10000
    }
  },
  "rover_specs": {
    "zed_height": 0.4318000078,
    "real_width": 1168.400024,
    "angle_offset": 0.1745329201
  }
}