135 lines
3.3 KiB
Plaintext
135 lines
3.3 KiB
Plaintext
input_stream: "image_cpu_frames"
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input_stream: "start_pos"
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input_stream: "ra_track"
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num_threads: 4
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node: {
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calculator: "MotionAnalysisCalculator"
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input_stream: "VIDEO:image_cpu_frames"
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output_stream: "CAMERA:camera_motion"
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output_stream: "FLOW:region_flow"
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options: {
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[mediapipe.MotionAnalysisCalculatorOptions.ext]: {
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analysis_options: {
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analysis_policy: ANALYSIS_POLICY_CAMERA_MOBILE
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flow_options: {
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# Maybe move down to 50
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fast_estimation_min_block_size: 100
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top_inlier_sets: 1
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frac_inlier_error_threshold: 3e-3
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downsample_mode: DOWNSAMPLE_NONE
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verification_distance: 5.0
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verify_long_feature_acceleration: true
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verify_long_feature_trigger_ratio: 0.1
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tracking_options: {
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max_features: 500
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adaptive_extraction_levels: 2
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min_eig_val_settings: {
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adaptive_lowest_quality_level: 2e-4
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}
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klt_tracker_implementation: KLT_OPENCV
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}
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}
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motion_options: {
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label_empty_frames_as_valid: false
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}
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}
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}
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}
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}
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node: {
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calculator: "FlowPackagerCalculator"
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input_stream: "FLOW:region_flow"
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input_stream: "CAMERA:camera_motion"
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output_stream: "TRACKING:tracking_data"
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options: {
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[mediapipe.FlowPackagerCalculatorOptions.ext]: {
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flow_packager_options: {
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binary_tracking_data_support: false
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}
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}
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}
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}
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node: {
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calculator: "BoxTrackerCalculator"
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input_stream: "TRACKING:tracking_data"
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input_stream: "START_POS:start_pos"
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output_stream: "BOXES:boxes"
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input_side_packet: "OPTIONS:calculator_options"
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input_stream_handler: {
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input_stream_handler: "SyncSetInputStreamHandler"
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options: {
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[mediapipe.SyncSetInputStreamHandlerOptions.ext]: {
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sync_set: {
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tag_index: "TRACKING"
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}
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sync_set: {
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tag_index: "START_POS"
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}
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}
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}
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}
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options: {
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[mediapipe.BoxTrackerCalculatorOptions.ext]: {
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tracker_options: {
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track_step_options: {
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track_object_and_camera: true
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tracking_degrees: TRACKING_DEGREE_OBJECT_PERSPECTIVE
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object_similarity_min_contd_inliers: 6
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inlier_spring_force: 0.0
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static_motion_temporal_ratio: 3e-2
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}
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}
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visualize_tracking_data: false
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streaming_track_data_cache_size: 100
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}
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}
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}
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node: {
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calculator: "BoxTrackerCalculator"
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input_stream: "TRACKING:tracking_data"
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input_stream: "RA_TRACK:ra_track"
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output_stream: "RA_BOXES:ra_boxes"
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input_side_packet: "OPTIONS:calculator_options"
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input_stream_handler: {
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input_stream_handler: "SyncSetInputStreamHandler"
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options: {
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[mediapipe.SyncSetInputStreamHandlerOptions.ext]: {
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sync_set: {
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tag_index: "TRACKING"
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}
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sync_set: {
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tag_index: "RA_TRACK"
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}
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}
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}
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}
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options: {
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[mediapipe.BoxTrackerCalculatorOptions.ext]: {
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tracker_options: {
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track_step_options: {
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track_object_and_camera: true
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tracking_degrees: TRACKING_DEGREE_OBJECT_PERSPECTIVE
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object_similarity_min_contd_inliers: 6
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inlier_spring_force: 0.0
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static_motion_temporal_ratio: 3e-2
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}
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}
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visualize_tracking_data: false
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streaming_track_data_cache_size: 100
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}
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}
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}
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