The config.json file specification
{
"cv": {
// weight file location .pt file
"weights": "./sense/trash.pt",
/*
alinux develop env rgb camera number: 4,
Jetson nano product env rgb camera number: 2,
*/
"rgb_source": 4,
// image size, here we use 640*480
"imgsz": 640,
// confidence threshold
"conf_thres": 0.6,
"iou_thres": 0.45
},
"data_filter": {
/*
data filter range, [n * -sigma, n * sigma]
*/
"std_range": 3,
/*
The x sampling method for obj depth detection,
Here are the unit points
*/
"sampling_method_x": [
[0.125, 0.125],
[0.25, 0.25],
[0.375, 0.375],
[0.5, 0.5],
[0.625, 0.625],
[0.75, 0.75],
[0.875, 0.875],
[0.125, 0.875],
[0.25, 0.75],
[0.375, 0.625],
[0.625, 0.375],
[0.75, 0.25],
[0.875, 0.125]
]
},
/*
The car body
*/
"car_framework": {
/*
The distance from camera to arm
*/
"camera_bias_arm": 0,
/*
rgb camera parameters
*/
"rgb_camera": {
"x_pixels": 640,
"y_pixels": 480
}
}
}