<?xml version="1.0"?>
<TrackingData>
	<Sensors>
		<Sensor type="FeatureBasedSensorSource" subtype="fast">
			<SensorID>FeatureTracking1</SensorID>

			<Parameters>
				<FeatureBasedParameters>
				    <Tracking>
				        <qualityTreshold>
				            0.8
				        </qualityTreshold>
				    </Tracking>
				<MaxNumCosesForInit>2</MaxNumCosesForInit>
				</FeatureBasedParameters>
				
			</Parameters>

			<SensorCOS>
				<SensorCosID>1</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/plant_01.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>2</SensorCosID>
				<Parameters>
					<referenceImage widthMM="900" heightMM="600">../res/plant_02.png</referenceImage>
				</Parameters>
			</SensorCOS> 
			<SensorCOS>
				<SensorCosID>3</SensorCosID>
				<Parameters>
					<referenceImage widthMM="297" heightMM="420">../res/plant_03.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>4</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/plant_04.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>5</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/plant_05.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>6</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/tubes.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>7</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/cpu.png</referenceImage>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>8</SensorCosID>
				<Parameters>
					<referenceImage widthMM="420" heightMM="297">../res/plant_08.png</referenceImage>
				</Parameters>
			</SensorCOS>
		</Sensor>
	</Sensors>
	<Connections>
		<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>1</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
		<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.1</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>2</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
			<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>3</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
			<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>4</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
		
				<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>5</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
		
		<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>6</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
		<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>7</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>
		<COS>
			<COSName>MarkerlessCOS</COSName>
			<Fuser type="SmoothingFuser">
				<Parameters>
					<!-- Alpha is in the range [0...1] and determines how strong a new pose is.
				  alpha = 0.9: less smoothing
				  alpha = 0.1: alot smoothing-->
					<AlphaRotation>0.5</AlphaRotation> 
					<AlphaTranslation>0.9</AlphaTranslation>
					<!-- if we lose tracking, keep the old pose for several frames -->
					<KeepPoseForNumberOfFrames>0</KeepPoseForNumberOfFrames>
				</Parameters>
			</Fuser>
			<SensorSource trigger="1">
				<SensorID>FeatureTracking1</SensorID>
				<SensorCosID>8</SensorCosID>
				<HandEyeCalibration>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</HandEyeCalibration>
				<COSOffset>
					<TranslationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
					</TranslationOffset>
					<RotationOffset>
						<x>0</x>
						<y>0</y>
						<z>0</z>
						<w>1</w>
					</RotationOffset>
				</COSOffset>
			</SensorSource>
		</COS>		
	</Connections>
</TrackingData>