/////////////////////////////////////////////
// Antler configuration  block

ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
//	ExecutablePath		= 
	
	//crucial processes
	Run = MOOSDB        @  NewConsole = false

	Run = pVision        @   NewConsole =false
	
//	Run = pNeck				@ NewConsole =false
//
	// MOOS-Scope: Visualizer of MOOS-DB	
//	Run = uMS       @       NewConsole=false
}

ProcessConfig = pVision
{
	CommsTick = 20
	AppTick = 40

	// If desired, some vision sub-modules can be set to be enabled at start-up 
	//  (default is all disabled at start-up).
	// One or more names, separated by spaces and/or commas, from this list:
	//   DISPLAY_IMAGE
	//   CAMSHIFT 
	active_modules		= DISPLAY_IMAGE, FACEDETECTOR


	// -----------------------------------------------------------------
	// MRPT's CCameraSensor-compatible configuration block to select
	//  which video source to open:
	// -----------------------------------------------------------------
	driver			= CCameraSensor
	sensorLabel		= CAMERA1

	// Type of camera driver:
//	grabber_type		= opencv
//	grabber_type		= bumblebee
//	grabber_type		= ffmpeg
	grabber_type		= swissranger
	
	sr_use_usb         = true           // True: use USB, false: use ethernet
    sr_IP              = 192.168.2.14    // If sr_use_usb=false, the camera IP
    sr_grab_grayscale  = true            // whether to save the intensity channel
    sr_grab_3d         = true            // whether to save the 3D points
    sr_grab_range      = true            // whether to save the range image
    sr_grab_confidence = true            // whether to save the confidence image

//	cv_camera_index		= 0		// [opencv] Number of camera to open
//	ffmpeg_url		= /media/ALMACENAMIENTO/Videos/Bienvenidos.Al.Norte.avi  // [ffmpeg] The video file or IP camera to open


	// =============== Params for DISPLAY_IMAGE  ====================


	// =============== Params for CAMSHIFT  ====================

	
	// =============== Params for FACEDETECTOR  ====================
	
	detectionType		= 1		// 0: Use directly OpenCV methods. 1: Use new MRPT wrapper

	classifierType 		= 0			// 0: Haar. 1: LBP

	scaleFactor=1.1
	minNeighbors=3
	flags=0
	minSize=10

	takeTime=true
	takeMeasures=true
	saveMeasurementsToFile=true
	multithread=false
	confidenceThreshold=200
	planeEigenValThreshold_up=0.011
	planeEigenValThreshold_down=0.0004
	useCovFilter=false
	useRegionsFilter=true
	useSizeDistanceRelationFilter=false
	useDiagonalDistanceFilter=false
	
//	cascadeName			= ./haarcascade_frontalface_alt.xml
//	nestedCascadeName	= ./haarcascade_eye_tree_eyeglasses.xml
//	useNestedCascade	= 0
//	framesRepeatDetect	= 200
//	scale				= 1
//	thresholdSameFace	= 1
//	scaleSearchFace		= 0.6
//	numGeneralSearch	= 4
//	displayMode			= 1
//	traceMode			= 0
//	thresholdExistFace	= 3
//	minSizeDetector		= 0
//	cameraIndex  		= 0
//	cameraWidth			= 640
//	cameraHeight		= 480
//	saveVideo			= 0

}

ProcessConfig = pNeck
{
	CommsTick = 10
	AppTick = 15
	
	filterDepth = 10
	truncateFactor = 0.5
}