general_params.yaml

# zed 
zed_frame: "left"
zed_id: 1
zed_fps: 100           # 5, 30, 60, 100
zed_res: "HD2K"        # HD2K, HD1080, HD720, VGA
zed_res_dc: "HD720"
zed_brightness: -1     #[0 - 8]  
zed_contrast: -1       #[0 - 8]  
zed_hue: -1            #[0 - 11]
zed_saturation: -1     #[0 - 8]  
zed_sharpness: -1      #[0 - 8] 
zed_gain: -1           #[0 - 100]  
zed_exposure: -1       #[0 - 100]  
zed_whitebal_temp: -1  #[2800 - 6500]  
zed_serial: 33582849

# projector 
projector_calibration: "calibration_7.yml"
projector_res: "Custom" 
projector_name: "optoma"
projector_width: 1920
projector_height: 1080
x_offset: 4920
y_offset: 0
use_saved_params: True
use_keyevent:     False
save_proj_ext:    False
save_proj_int:    False
save_home_tf: False
load_home_tf: True

debug_img: True

# april tag detector parameters
tag_families: "tag36h11"
nthreads: 4
quad_decimate: 0.
quad_sigma: 0.4
refine_edges: 1.0
decode_sharpening: 1.0
debug: 0

# april tag information
estimate_pose: True
# tag_size: 0.0849
# tag_size: 0.0425
# tag_size: 0.0749
tag_size: 0.16210
test_id: 0
target_ids: [1,2,3,4]


save_goals: True
goal_x_offset: 0.20
goal_y_offset: 0.20
c_mode: True
d_mode: True