{
    "CommonObjectDetector": {
        "dataset": "COCO",
        "inputSize": 640,
        "nmsThrs": 0.6,
        "scoreThrs": 0.4,
        "useWidthOrHeight": 1,
        "withSegmentation": true,
        "datasetPersonVehicle": {
            "person": [0.5, 1.8],
            "car": [4.1, 1.5],
            "bus": [10, 3],
            "truck": [-1, -1],
            "bike": [-1, -1],
            "train": [-1, -1],
            "boat": [-1, -1],
            "aeroplane": [-1, -1]
        },
        "datasetDrone": {
            "drone": [0.4, 0.2]
        },
        "datasetCOCO": {
            "person": [-1, -1],
            "bicycle": [-1, -1],
            "car": [-1, -1],
            "motorcycle": [-1, -1],
            "airplane": [-1, -1],
            "bus": [-1, -1],
            "train": [-1, -1],
            "truck": [-1, -1],
            "boat": [-1, -1],
            "traffic light": [-1, -1],
            "fire hydrant": [-1, -1],
            "stop sign": [-1, -1],
            "parking meter": [-1, -1],
            "bench": [-1, -1],
            "bird": [-1, -1],
            "cat": [-1, -1],
            "dog": [-1, -1],
            "horse": [-1, -1],
            "sheep": [-1, -1],
            "cow": [-1, -1],
            "elephant": [-1, -1],
            "bear": [-1, -1],
            "zebra": [-1, -1],
            "giraffe": [-1, -1],
            "backpack": [-1, -1],
            "umbrella": [-1, -1],
            "handbag": [-1, -1],
            "tie": [-1, -1],
            "suitcase": [-1, -1],
            "frisbee": [-1, -1],
            "skis": [-1, -1],
            "snowboard": [-1, -1],
            "sports ball": [-1, -1],
            "kite": [-1, -1],
            "baseball bat": [-1, -1],
            "baseball glove": [-1, -1],
            "skateboard": [-1, -1],
            "surfboard": [-1, -1],
            "tennis racket": [-1, -1],
            "bottle": [-1, -1],
            "wine glass": [-1, -1],
            "cup": [-1, -1],
            "fork": [-1, -1],
            "knife": [-1, -1],
            "spoon": [-1, -1],
            "bowl": [-1, -1],
            "banana": [-1, -1],
            "apple": [-1, -1],
            "sandwich": [-1, -1],
            "orange": [-1, -1],
            "broccoli": [-1, -1],
            "carrot": [-1, -1],
            "hot dog": [-1, -1],
            "pizza": [-1, -1],
            "donut": [-1, -1],
            "cake": [-1, -1],
            "chair": [-1, -1],
            "couch": [-1, -1],
            "potted plant": [-1, -1],
            "bed": [-1, -1],
            "dining table": [-1, -1],
            "toilet": [-1, -1],
            "tv": [-1, -1],
            "laptop": [-1, -1],
            "mouse": [-1, -1],
            "remote": [-1, -1],
            "keyboard": [-1, -1],
            "cell phone": [-1, -1],
            "microwave": [-1, -1],
            "oven": [-1, -1],
            "toaster": [-1, -1],
            "sink": [-1, -1],
            "refrigerator": [-1, -1],
            "book": [-1, -1],
            "clock": [-1, -1],
            "vase": [-1, -1],
            "scissors": [-1, -1],
            "teddy bear": [-1, -1],
            "hair drier": [-1, -1],
            "toothbrush": [-1, -1]
        }
    },
    "AutoFocusObjectDetector": {
        "lock_thres": 5,
        "unlock_thres": 5,
        "lock_scale_init": 12.0,
        "lock_scale": 8.0,
        "categories_filter": [],
        "keep_unlocked": false,
        "use_square_region": false
    },
    "SingleObjectTracker": {
        "algorithm": "siamrpn",
        "backend": 0,
        "target": 0
    },
    "MultipleObjectTracker": {
        "algorithm": "sort",
        "with_reid": false,
        "reid_input_size": [128, 128],
        "reid_num_samples": 10,
        "reid_match_thres": 2.0,
        "iou_thres": 0.5,
        "max_age": 10,
        "min_hits": 3
    },
    "LandingMarkerDetector": {
        "labels": ["x", "h"],
        "maxCandidates": 5
    },
    "EllipseDetector": {
        "radiusInMeter": 0.5,
        "preProcessingGaussKernel": 5,
        "preProcessingGaussSigma": 1.306,
        "thPosition": 1.0,
        "maxCenterDistance": 0.05,
        "minEdgeLength": 9,
        "minOrientedRectSide": 2.984,
        "distanceToEllipseContour": 0.111,
        "minScore": 0.511,
        "minReliability": 0.470,
        "ns": 22,
        "percentNe": 0.946,
        "T_CNC": 0.121,
        "T_TCN_L": 0.468,
        "T_TCN_P": 0.560,
        "thRadius": 0.202
    },
    "ArucoDetector": {
        "dictionaryId": 10,
        "markerIds": [-1],
        "markerLengths": [0.2],
        "adaptiveThreshConstant": 7,
        "adaptiveThreshWinSizeMax": 23,
        "adaptiveThreshWinSizeMin": 3,
        "adaptiveThreshWinSizeStep": 10, 
        "aprilTagCriticalRad": 0.17453292519,
        "aprilTagDeglitch": 0,
        "aprilTagMaxLineFitMse": 10.0,
        "aprilTagMaxNmaxima": 10,
        "aprilTagMinClusterPixels": 5,
        "aprilTagMinWhiteBlackDiff": 5,
        "aprilTagQuadDecimate": 0.0,
        "aprilTagQuadSigma": 0.0,
        "cornerRefinementMaxIterations": 30,
        "cornerRefinementMethod": 0,
        "cornerRefinementMinAccuracy": 0.1,
        "cornerRefinementWinSize": 5,
        "detectInvertedMarker": false,
        "errorCorrectionRate": 0.6,
        "markerBorderBits": 1,
        "maxErroneousBitsInBorderRate": 0.35,
        "maxMarkerPerimeterRate": 4.0,
        "minCornerDistanceRate": 0.05,
        "minDistanceToBorder": 3,
        "minMarkerDistanceRate": 0.05,
        "minMarkerLengthRatioOriginalImg": 0,
        "minMarkerPerimeterRate": 0.03,
        "minOtsuStdDev": 5.0,
        "minSideLengthCanonicalImg": 32,
        "perspectiveRemoveIgnoredMarginPerCell": 0.13,
        "perspectiveRemovePixelPerCell": 4,
        "polygonalApproxAccuracyRate": 0.03,
        "useAruco3Detection": false
    },
    "ColorLineDetector": {
        "line_color": "black",
        "line_location": 0.5,
        "line_location_a1": 0.3,
        "line_location_a2": 0.7
    }
}