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utic.ini.example
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utic.ini.example
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[DEFAULT]
domain_name: unisa.edu.au
setup_name: magicvisionlab
user_name: mvl
platform_name: win
config_directory: H:\config
data_directory: H:\vhardata
record_directory: H:\record
module_namespace: vharcalibration.plugin.modules
[ubitrack]
components_path = H:\Libraries\UbiTrack-build\bin\ubitrack
;
; Phantom Omni Defaults
;
[ubitrack.devices.phantom_omni]
joint_length1: 0.13335
joint_length2: 0.13335
origin_offset_x: 0.0
origin_offset_y: -0.11
origin_offset_z: -0.035
;
; Phantom Premium 1.5 Defaults
; (needs verification)
[ubitrack.devices.phantom_premium15]
joint_length1: 0.20955
joint_length2: 0.20955
origin_offset_x: 0.0
origin_offset_y: 0.0
origin_offset_z: 0.0
;
; Phantom Premium 3.0 Defaults
; (needs verification)
[ubitrack.devices.phantom_premium15]
joint_length1: 0.457202
joint_length2: 0.457202
origin_offset_x: 0.0
origin_offset_y: 0.0
origin_offset_z: 0.0
; not yet working
;[extensions]
;autostart: calibration_wizard
;
;
; Calibration Wizard Configuration
;
;
[calibration_wizard]
wizards: default_camera,vuzix_hmd,time_delay_estimation,phantom_colocation,gui_test
domain: %(domain_name)s
setup: %(setup_name)s
user: %(user_name)s
platform: %(platform_name)s
home: %(home_directory)s
[calibration_wizard.default_camera]
name: Default Camera
config_namespace: vc.default_camera
[calibration_wizard.vuzix_hmd]
name: Vuzix HMD
config_namespace: vc.vuzix_hmd
[calibration_wizard.time_delay_estimation]
name: Time-Delay Estimation
config_namespace: vc.time_delay_estimation
[calibration_wizard.phantom_colocation]
name: Phantom Co-Location
config_namespace: vc.phantom_colocation
[calibration_wizard.gui_test]
name: Gui Test
config_namespace: vc.gui_test
;
;
; Default Camera Calibration Wizard
;
;
[vc.default_camera]
name: Default Camera Calibration
facade_handler: inprocess
rootdir: %(config_directory)s\vharcalibration
calibdir: %(rootdir)s\calib\default_camera\%(domain_name)s\%(setup_name)s\%(user_name)s
dfgdir: %(rootdir)s\dfgs\default_camera\%(domain_name)s\%(setup_name)s\%(user_name)s\%(platform_name)s
resultsdir: %(data_directory)s\default_camera\%(setup_name)s\%(user_name)s
[vc.default_camera.modules.calibration_start]
enabled: True
name: Start Default Camera Calibration
[vc.default_camera.modules.camera_intrinsics]
enabled: True
dfg_filename: camera_intrinsics_flea2.dfg
name: Camera Intrinsics
dependencies: calibration_start
calib_files: flea2_intrinsics.calib,flea2_distortion.calib
[vc.default_camera.modules.camera_handeye]
enabled: True
dfg_filename: camera_handeye_calibration_flea2.dfg
name: Camera Hand-Eye
dependencies: camera_intrinsics
calib_files: flea2_hand_eye_calibration.calib,tracker_marker_transform.calib
[vc.default_camera.modules.calibration_result]
enabled: True
;dfg_filename: vhar_calibration_verification.dfg
name: Camera Calibration Result
dependencies: camera_intrinsics,camera_handeye
report_filename: calibration_report.yaml
;
;
; VUZIX HMD Calibration
;
;
[vc.vuzix_hmd]
name: Vuzix HMD Calibration
facade_handler: inprocess
rootdir: %(config_directory)s\vharcalibration
calibdir: %(rootdir)s\calib\vuzix_hmd\%(domain_name)s\%(setup_name)s\%(user_name)s
dfgdir: %(rootdir)s\dfgs\vuzix_hmd\%(domain_name)s\%(setup_name)s\%(user_name)s\%(platform_name)s
resultsdir: %(data_directory)s\vuzix_hmd\%(setup_name)s\%(user_name)s
[vc.vuzix_hmd.modules.calibration_start]
enabled: True
name: Start Vuzix HMD Calibration
[vc.vuzix_hmd.modules.camera_intrinsics_left]
enabled: True
dfg_filename: camera_intrinsics_vuzix_left.dfg
name: Camera Intrinsics Left
dependencies: calibration_start
calib_files: vuzix_left_intrinsics.calib,vuzix_left_distortion.calib
[vc.vuzix_hmd.modules.camera_intrinsics_right]
enabled: True
dfg_filename: camera_intrinsics_vuzix_right.dfg
name: Camera Intrinsics Right
dependencies: camera_intrinsics_left
calib_files: vuzix_right_intrinsics.calib,vuzix_right_distortion.calib
[vc.vuzix_hmd.modules.camera_handeye]
enabled: True
dfg_filename: camera_handeye_calibration_vuzix.dfg
name: Camera Hand-Eye
dependencies: camera_intrinsics_left,camera_intrinsics_right
calib_files: vuzix_hand_eye_calibration.calib,tracker_marker_transform.calib
[vc.vuzix_hmd.modules.camera_stereo]
enabled: True
dfg_filename: camera_stereocalib_vuzix.dfg
name: Camera Stereo Transform
dependencies: camera_intrinsics_left,camera_intrinsics_right,camera_handeye
calib_files: vuzix_stereo_transform.calib
[vc.vuzix_hmd.modules.calibration_result]
enabled: True
name: Vuxiz HMD Calibration Result
dependencies: camera_intrinsics_left,camera_intrinsics_right,camera_handeye,camera_stereo
report_filename: calibration_report.yaml
;
;
; Time-Delay Estimation Calibration
;
;
[vc.time_delay_estimation]
name: Time-Delay Estimation
rootdir: %(config_directory)s\vharcalibration
calibdir: %(rootdir)s\calib\time_delay_estimation\%(domain_name)s\%(setup_name)s\%(user_name)s
dfgdir: %(rootdir)s\dfgs\time_delay_estimation\%(domain_name)s\%(setup_name)s\%(user_name)s\%(platform_name)s
resultsdir: %(data_directory)s\time_delay_estimation\%(setup_name)s\%(user_name)s
facade_handler: inprocess
;livepreview: time_delay_estimation_preview
;[vc.time_delay_estimation.preview]
;dfg_filename: vhar_timedelay_livepreview.dfg
;sync_source: camera_image
;shared_calibdir: %(config_directory)s\vharcalibration\calib\shared\%(domain_name)s\%(setup_name)s\%(user_name)s
[vc.time_delay_estimation.initialize_files]
absolute_orientation_calibration.calib: %(config_directory)s\vharcalibration\calib\init\absolute_orientation_calibration.calib
tooltip_calibration.calib: %(config_directory)s\vharcalibration\calib\init\tooltip_calibration.calib
[vc.time_delay_estimation.modules.calibration_start]
enabled: True
name: Start Time-Delay Estimation
[vc.time_delay_estimation.modules.tooltip_calibration]
enabled: True
name: Tooltip Calibration
dependencies: calibration_start
dfg_filename: calibration_tooltip.dfg
calib_files: tooltip_calibration.calib
recorddir: %(record_directory)s\tooltip
[vc.time_delay_estimation.modules.absolute_orientation_calibration]
enabled: True
name: Absolute Orientation
dependencies: tooltip_calibration
dfg_filename: calibration_absolute_orientation_init.dfg
calib_files: absolute_orientation_calibration.calib
recorddir: %(record_directory)s\absolute_orientation
[vc.time_delay_estimation.modules.timedelay_estimation_calibration]
enabled: True
name: Time-Delay Estimation
dependencies: tooltip_calibration,absolute_orientation_calibration
dfg_filename: calibration_timedelay.dfg
[vc.time_delay_estimation.modules.calibration_result]
enabled: True
name: Time-Delay Estimation Result
dependencies: tooltip_calibration,absolute_orientation_calibration,timedelay_estimation_calibration
report_filename: calibration_report.yaml
;
;
; Phantom Co-Location Calibration
;
;
[vc.phantom_colocation]
name: Phantom Co-Location Calibration
rootdir: %(config_directory)s\vharcalibration
calibdir: %(rootdir)s\calib\phantom_colocation\%(domain_name)s\%(setup_name)s\%(user_name)s
dfgdir: %(rootdir)s\dfgs\phantom_colocation\%(domain_name)s\%(setup_name)s\%(user_name)s\%(platform_name)s
resultsdir: %(data_directory)s\phantom_colocation\%(setup_name)s\%(user_name)s
facade_handler: inprocess
haptic_device: phantom_omni
; currently not implemented
; use_2ndorder_model: true
; no livepreview since it's now connected to the H3D Host
;livepreview: phantom_colocation
;[vc.phantom_colocation.preview]
;dfg_filename: vhar_calibration_host_flea2.dfg
;shared_calibdir: %(config_directory)s\vharcalibration\calib\shared\%(domain_name)s\%(setup_name)s\%(user_name)s
[vc.phantom_colocation.initialize_files]
absolute_orientation_calibration.calib: %(config_directory)s\vharcalibration\calib\init\absolute_orientation_calibration.calib
phantom_jointangle_correction.calib: %(config_directory)s\vharcalibration\calib\init\phantom_jointangle_correction.calib
phantom_gimbalangle_correction.calib: %(config_directory)s\vharcalibration\calib\init\phantom_gimbalangle_correction.calib
tooltip_calibration.calib: %(config_directory)s\vharcalibration\calib\init\tooltip_calibration.calib
zref_axis.calib: %(config_directory)s\vharcalibration\calib\init\zref_axis.calib
[vc.phantom_colocation.modules.calibration_start]
enabled: True
name: Start Phantom Co-Location Calibration
[vc.phantom_colocation.modules.tooltip_calibration]
enabled: True
name: Tooltip Calibration
dependencies: calibration_start
dfg_filename: calibration_tooltip.dfg
calib_files: tooltip_calibration.calib
recorddir: %(record_directory)s\tooltip
[vc.phantom_colocation.modules.absolute_orientation_calibration]
enabled: True
name: Absolute Orientation
dependencies: tooltip_calibration
dfg_filename: calibration_absolute_orientation.dfg
calib_files: absolute_orientation_calibration.calib
recorddir: %(record_directory)s\absolute_orientation
[vc.phantom_colocation.modules.hapticworkspace_calibration]
enabled: True
name: Joint-Angle Calibration
dependencies: tooltip_calibration,absolute_orientation_calibration
dfg_filename: calibration_haptic_workspace.dfg
calib_files: phantom_jointangle_correction.calib
recorddir: %(record_directory)s\haptic_workspace_position
[vc.phantom_colocation.modules.hapticgimbal_init_calibration]
enabled: True
name: Gimbal Reference-Axis Initialization
dependencies: tooltip_calibration,absolute_orientation_calibration,hapticworkspace_calibration
dfg_filename: calibration_hapticgimbal_initialization.dfg
calib_files: zref_axis.calib
recorddir: %(record_directory)s\haptic_workspace_initialize_orientation
[vc.phantom_colocation.modules.hapticgimbal_calibration]
enabled: True
name: Gimbal-Angle Calibration
dependencies: tooltip_calibration,absolute_orientation_calibration,hapticworkspace_calibration,hapticgimbal_init_calibration
dfg_filename: calibration_hapticgimbal_workspace.dfg
calib_files: phantom_gimbalangle_correction.calib
recorddir: %(record_directory)s\haptic_workspace_orientation
[vc.phantom_colocation.modules.calibration_result]
enabled: True
name: Phantom Co-Location Result
dependencies: tooltip_calibration,absolute_orientation_calibration,hapticworkspace_calibration,hapticgimbal_init_calibration,hapticgimbal_calibration
report_filename: calibration_report.yaml
;
;
; Gui Test
;
;
[vc.gui_test]
name: Gui Test for Calibration Wizard
facade_handler: masterslave
livepreview: True
rootdir: %(config_directory)s/vharcalibration
calibdir: %(rootdir)s/calib/gui_test/%(domain_name)s/%(setup_name)s/%(user_name)s
dfgdir: %(rootdir)s/dfgs/gui_test/%(domain_name)s/%(setup_name)s/%(user_name)s/%(platform_name)s
resultsdir: %(data_directory)s/gui_test/%(setup_name)s/%(user_name)s
livepreview_dfg_basedir: %(dfgdir)s
livepreview_dfg_filename: guitest_master.dfg
[vc.gui_test.modules.calibration_start]
enabled: True
name: Start Gui Test
[vc.gui_test.modules.step1]
enabled: True
dfg_filename: guitest_slave1.dfg
name: Step 1
dependencies: calibration_start
;calib_files: isight_intrinsics.calib,isight_distortion.calib
[vc.gui_test.modules.calibration_result]
enabled: True
name: Gui Test Result
dependencies: step1
report_filename: calibration_report.yaml