config_webcam.yaml

#   This configuration file was written for Python script. 
#   The orgiinal configuration files for ROS can be found here: https://github.com/NVlabs/Deep_Object
#   Feb 2021 
#   Jiwon Gim

weights: {
     "cracker":"net_epoch_60.pth",
    # "gelatin":"gelatin_60.pth",
    # "meat":"meat_20.pth"
    # "mustard":"mustard_60.pth",
    # "soup":"soup_60.pth",
    #"sugar":"sugar_60.pth",
}

# Cuboid dimension in cm x,y,z
dimensions: {
    "cracker": [16.403600692749023,21.343700408935547,7.179999828338623],
    "gelatin": [8.918299674987793, 7.311500072479248, 2.9983000755310059],
    "meat": [10.164673805236816,8.3542995452880859,5.7600898742675781],
    "mustard": [9.6024150848388672,19.130100250244141,5.824894905090332],
    "soup": [6.7659378051757813,10.185500144958496,6.771425724029541],
    "sugar": [9.267730712890625,17.625339508056641,4.5134143829345703]
}

draw_colors: {
    "cracker": [13, 255, 128],  # green
    "gelatin": [255, 255, 255],  # while
    "meat": [0, 104, 255],  # blue
    "mustard": [217,12, 232],  # magenta
    "soup": [255, 101, 0],  # orange
    "sugar": [232, 222, 12],  # yellow
}

# Camera intrinsics 
#(Logitech C920)
camera_settings: {
    "name": "logitech_c920",
    "width": 640,
    "height": 480,
    "fx": 641.5,
    "fy": 641.5,
    "cx": 320.0,
    "cy": 240.0
}

# Config params for DOPE
thresh_angle: 0.5
#thresh_map: 0.01   # suggested by official DOPE
thresh_map: 0.005   # for DOPE inference tutorial 
sigma: 3
# thresh_points: 0.1 # suggested by official DOPE 
thresh_points: 0.01  # for DOPE inference tutorial