{
    "node_name": "default_config_detect_service",
    "output_boxes": "True",
    "output_masks": "False",
    "eye_in_left_hand_mat_path": "configs/hand_eye_mat/eye_in_left_hand.json",
    "eye_in_right_hand_mat_path": "configs/hand_eye_mat/eye_in_right_hand.json",
    "eye_to_hand_mat_path": "configs/hand_eye_mat/eye_to_hand.json",
    "get_camera_mode": "Service",
    "Service_configs": {
        "service_name": "/vision_object_recognition"
    },
    "Topic_configs": {
        "position": "right",
        "color_image_topic_name": "/camera/color/image_raw",
        "depth_image_topic_name": "/camera/depth/image_raw",
        "camera_info_topic_name": "/camera/color/camera_info"
    },
    "detect_mode": "Detect",
    "Detect_configs": {
        "checkpoint_path": "checkpoints/yolo11s-seg.pt",
        "confidence": 0.25,
        "classes": []
    },
    "Color_configs": {
        "distance": 1500,
        "color_range": [[[0, 120, 70], [10, 255, 255]], [[170, 120, 70], [180, 255, 255]]]
    },
    "Crossboard_configs": {
        "pattern_size": [8, 5]
    },
    "calculate_mode": "PCA",
    "PCA_configs": {
        "depth_scale": 1000.0,
        "depth_trunc": 3.0,
        "voxel_size": 0.020,
        "nb_points": 10,
        "radius": 0.1,
        "nb_neighbors": 20,
        "std_ratio": 3.0
    },
    "ICP_configs": {
        "complete_model_path": "pointclouds/bottle_model.pcd",
        "depth_scale": 1000.0,
        "depth_trunc": 2.0,
        "nb_points": 10,
        "radius": 0.1,
        "nb_neighbors": 20,
        "std_ratio": 3.0,
        "ransac_voxel_size": 0.005,
        "icp_voxel_radius": [0.004, 0.002, 0.001],
        "icp_max_iter": [50, 30, 14]
    }
}