Sophiar2/tests/data/transform_utility_config.json

{
  "listen_port": 5277,
  "object_list": [
    {
      "type": "transform_inverter",
      "name": "sample_inverter",
      "start_config": {
        "input_obj_name": "C_in_D",
        "output_obj_name": "D_in_C"
      }
    },
    {
      "type": "scalarxyz_transformer",
      "name": "sample_transformer",
      "start_config": {
        "transform_type": "point",
        "input_obj_name": "probe_offset",
        "fixed_value": [
          1,
          2,
          3
        ],
        "transform_obj_name": "tracker_probe_transform",
        "output_obj_name": "point_in_probe"
      }
    },
    {
      "type": "transform_stabilizer",
      "name": "sample_stabilizer",
      "start_config": {
        "stable_type": "point",
        "input_obj_name": "point_in_tracker",
        "output_obj_name": "pickled_point_in_tracker",
        "linear_tolerance_mm": 0.2,
        "angular_tolerance_deg": 0.05,
        "temporal_interval_s": 1.5,
        "counting_interval": 150
      }
    },
    {
      "type": "landmark_registration",
      "name": "sample_registration",
      "start_config": {
        "fiducial_points": [
          [
            0,
            0,
            0
          ],
          [
            0,
            1,
            1
          ],
          [
            1,
            1,
            1
          ],
          [
            1,
            1,
            2
          ]
        ],
        "input_point_obj_name": "pickled_point_in_tracker",
        "output_transform_obj_name": "registration_result",
        "output_error_obj_name": "registration_error"
      }
    }
  ]
}