{
  "cp_extractor" : {
    "extractor" : "AKAZE", 
    "matcher_norm" : "HAMMING", 
    "octaves" : 2,
    "sublevels" : 2, 
    "threshold" : 0.001, 
    "nndr_ratio" : 0.6
  }, 
  "cp_filter" : {
    "angle_threshold" : 5,
    "min_ratio_inliers" : 0.1,
    "min_samples_for_fit" : 3, 
    "ratio_outliers" : 0.5, 
    "proba_draw_outlier_free_samples" : 0.99, 
    "decimating_grid_size" : 0.02
  }, 
  "optimizer" : {
    "bundle_adjustment" : [
      {
        "vars" : "y# p# r#", 
        "num_iterations" : 2000
      },
      {
        "vars" : "y# p# r# f b", 
        "num_iterations" : 2000
      }
    ]
  }
}
