<?xml version="1.0"?>
<TrackingData>
	<Sensors>
		<Sensor Type="FeatureBasedSensorSource" Subtype="Fast">
			<SensorID>FeatureTracking1</SensorID>
			<Parameters>
				<FeatureDescriptorAlignment>regular</FeatureDescriptorAlignment>
				<MaxObjectsToDetectPerFrame>5</MaxObjectsToDetectPerFrame>
				<MaxObjectsToTrackInParallel>3</MaxObjectsToTrackInParallel>
				<SimilarityThreshold>0.7</SimilarityThreshold>
				<FeatureBasedParameters>
				    <Tracking>
				        <qualityTreshold>
				            0.8
				        </qualityTreshold>
				    </Tracking>
				<MaxNumCosesForInit>2</MaxNumCosesForInit>
				</FeatureBasedParameters>				
			</Parameters>
			<SensorCOS>
				<SensorCosID>1</SensorCosID>
				<Parameters>
					<ReferenceImage widthMM="420" heightMM="297">plant_01.png</ReferenceImage> -->
					<SimilarityThreshold>0.7</SimilarityThreshold>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>2</SensorCosID>
				<Parameters>
					<ReferenceImage widthMM="900" heightMM="600">plant_02.png</ReferenceImage> -->
					<SimilarityThreshold>0.7</SimilarityThreshold>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
				<SensorCosID>3</SensorCosID>
				<Parameters>
					<ReferenceImage widthMM="297" heightMM="420">plant_03.png</ReferenceImage> -->
					<SimilarityThreshold>0.7</SimilarityThreshold>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
			    <SensorCosID>4</SensorCosID>
				<Parameters>
					<ReferenceImage widthMM="420" heightMM="297">plant_04.png</ReferenceImage> -->
					<SimilarityThreshold>0.7</SimilarityThreshold>
				</Parameters>
			</SensorCOS>
			<SensorCOS>
			    <SensorCosID>5</SensorCosID>
				<Parameters>
					<ReferenceImage widthMM="420" heightMM="297">plant_05.png</ReferenceImage> -->
					<SimilarityThreshold>0.7</SimilarityThreshold>
				</Parameters>
			</SensorCOS>
		</Sensor>
	</Sensors>
	<Connections>
		<COS>
			<Name>MarkerlessCOS1</Name>
			<Fuser Type="SmoothingFuser">
				<Parameters>
					<KeepPoseForNumberOfFrames>2</KeepPoseForNumberOfFrames>
					<GravityAssistance></GravityAssistance>
					<AlphaTranslation>0.8</AlphaTranslation>
					<GammaTranslation>0.8</GammaTranslation>
					<AlphaRotation>0.5</AlphaRotation>
					<GammaRotation>0.5</GammaRotation>
					<ContinueLostTrackingWithOrientationSensor>false</ContinueLostTrackingWithOrientationSensor>
				</Parameters>
			</Fuser>

			<SensorSource>
				<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>
			<Name>MarkerlessCOS2</Name>
			<Fuser Type="SmoothingFuser">
				<Parameters>
					<KeepPoseForNumberOfFrames>2</KeepPoseForNumberOfFrames>
					<GravityAssistance></GravityAssistance>
					<AlphaTranslation>0.8</AlphaTranslation>
					<GammaTranslation>0.8</GammaTranslation>
					<AlphaRotation>0.5</AlphaRotation>
					<GammaRotation>0.5</GammaRotation>
					<ContinueLostTrackingWithOrientationSensor>false</ContinueLostTrackingWithOrientationSensor>
				</Parameters>
			</Fuser>

			<SensorSource>
				<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>
			<Name>MarkerlessCOS3</Name>
			<Fuser Type="SmoothingFuser">
				<Parameters>
					<KeepPoseForNumberOfFrames>2</KeepPoseForNumberOfFrames>
					<GravityAssistance></GravityAssistance>
					<AlphaTranslation>0.8</AlphaTranslation>
					<GammaTranslation>0.8</GammaTranslation>
					<AlphaRotation>0.5</AlphaRotation>
					<GammaRotation>0.5</GammaRotation>
					<ContinueLostTrackingWithOrientationSensor>false</ContinueLostTrackingWithOrientationSensor>
				</Parameters>
			</Fuser>

			<SensorSource>
				<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>
			<Name>MarkerlessCOS4</Name>
			<Fuser Type="SmoothingFuser">
				<Parameters>
					<KeepPoseForNumberOfFrames>2</KeepPoseForNumberOfFrames>
					<GravityAssistance></GravityAssistance>
					<AlphaTranslation>0.8</AlphaTranslation>
					<GammaTranslation>0.8</GammaTranslation>
					<AlphaRotation>0.5</AlphaRotation>
					<GammaRotation>0.5</GammaRotation>
					<ContinueLostTrackingWithOrientationSensor>false</ContinueLostTrackingWithOrientationSensor>
				</Parameters>
			</Fuser>

			<SensorSource>
				<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>
			<Name>MarkerlessCOS5</Name>
			<Fuser Type="SmoothingFuser">
				<Parameters>
					<KeepPoseForNumberOfFrames>2</KeepPoseForNumberOfFrames>
					<GravityAssistance></GravityAssistance>
					<AlphaTranslation>0.8</AlphaTranslation>
					<GammaTranslation>0.8</GammaTranslation>
					<AlphaRotation>0.5</AlphaRotation>
					<GammaRotation>0.5</GammaRotation>
					<ContinueLostTrackingWithOrientationSensor>false</ContinueLostTrackingWithOrientationSensor>
				</Parameters>
			</Fuser>

			<SensorSource>
				<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>

	</Connections>
</TrackingData>
