Configuration

The config.json file contains a list of settings. The following table gives a description of each parameter.

Parameter	Value type	Description
actuatorRanges	array	Determines which motors get activated when the angle between the marker and wearer gets calculated. These motors determine the direction the wearer of the haptic wearable should move towards.
arucoDictionary	int	Which set of aruco markers get detected. View OpenCV documentation for further details.
button_gpio_pin	int	Which gpio pin on the Raspberry Pi is used to receive push button events.
calibrate	boolean	When the game starts, should the calibration process for the camera be started?
camCenter	array	A value that gets calculated during the calibration process. Value is taken from camera intrinsic matrix.
camMatrix	array	Camera intrinsic matrix. A value that gets calculated during the calibration process that is used for undistorting images captured by the fisheye camera.
camera	integer	Determines whether a webcam camera(=0) or external camera(=1) is used.
catchThiefAfterTime	float	The amount of time since the start of the game that has elapsed until the agent can catch the thief.
dangerTime	float	The maximum amount of time the agent can be in a danger zone -that is when the agent is too close or too far away from the suspect. Surpassing this time results in a game over.
distortCoeffs	array	Input vector of distortion coefficients. Calculated during camera calibration and used during the frame undistortion process.
focalLength	float	Focal length of the camera. Taken from camera intrinsic matrix calculated during calibration process.
frequencyClose	float	The frequency of the vibrations in seconds when the user’s distance to the average position of all markers is smaller than `minDistance`.
frequencyFar	float	The frequency of the vibrations in seconds when the user’s distance to the average position of all markers is larger than `maxDistance`.
frequencyOptimal	float	The frequency of the vibrations in seconds when the user’s distance to the average position of all markers is greater than `minDistance` and smaller than `maxDistance`.
gameDuration	float	The maximum duration of the game is seconds.
logEnabled	boolean	When enabled the `LoggingSystem` writes detected markers and the calculated distances and angles into a csv file.
markerWidth	float	The width of the markers in metres.
markers	dictionary	Maps the id of a marker to a side (“left”, “front”, “right”, “back”) that corresponds to the side of the suspect.
maxDistance	float	The maximum distance the agent can be away from the suspect in metres before the agent is determined to be too far away and thus in “danger”.
minDistance	float	The minimum distance the agent can be away from the suspect in metres before the agent is determined to be too close and thus in “danger”.
shoulderMotors	array	The index of the motors used to convey the “stop” and “start” signal.
resolutionX	float	Resolution of the camera in the X dimension.
resolutionY	float	Resolution of the camera in the Y dimension.
targetLookAtThreshold	float	A threshold that determines when the suspect is considered to be facing the agent.
timeStep	float	The rate at which the game is updated in seconds.
useFisheye	boolean	Is a wide-angle camera being used?
ServerUri	string	The endpoint of the MQTT online broker.
Port	int	The port of the endpoint of the MQTT online broker.
CleanSession	bool	When the clean session flag is set to true, the client does not want a persistent session. If the client disconnects for any reason, all information and messages that are queued from a previous persistent session are lost.
Username	string	Username for MQTT authentication.
Password	string	Password for MQTT authentication.
SSL_TLS	boolean	Enables or disables SSL/TLS support.
Topics	array	An array of topics the MQTT broker should subscribe to when connecting.