{
  "algorithms" : [
    {
      "name": "calibration",
      "config" : {
        "rig" : {
          "name" : "DVT2AQ16080010",
          "rigcameras" : [
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 0,
              "pitch_mean" : -18,
              "roll_mean" : -90,
              "yaw_variance" : 100,
              "pitch_variance" : 100,
              "roll_variance" : 5,
              "translation_unit" : "meters",
              "translation_x_mean" : 0.00553364,
              "translation_y_mean" : 0.00455178,
              "translation_z_mean" : 0.0171506,
              "translation_x_variance" : 1,
              "translation_y_variance" : 1,
              "translation_z_variance" : 1,
              "camera" : "0_0"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 179.824,
              "pitch_mean" : -17.7883,
              "roll_mean" : -89.7617,
              "yaw_variance" : 100,
              "pitch_variance" : 100,
              "roll_variance" : 5,
              "translation_unit" : "meters",
              "translation_x_mean" : -0.0182148,
              "translation_y_mean" : -0.00412659,
              "translation_z_mean" : -0.0543979,
              "translation_x_variance" : 1,
              "translation_y_variance" : 1,
              "translation_z_variance" : 1,
              "camera" : "0_1"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -90.1075,
              "pitch_mean" : 17.9505,
              "roll_mean" : 89.7707,
              "yaw_variance" : 100,
              "pitch_variance" : 100,
              "roll_variance" : 5,
              "translation_unit" : "meters",
              "translation_x_mean" : -0.00389717,
              "translation_y_mean" : -0.0385453,
              "translation_z_mean" : -0.0211327,
              "translation_x_variance" : 1,
              "translation_y_variance" : 1,
              "translation_z_variance" : 1,
              "camera" : "1_0"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 90.111,
              "pitch_mean" : 18.1209,
              "roll_mean" : 90.1147,
              "yaw_variance" : 100,
              "pitch_variance" : 100,
              "roll_variance" : 5,
              "translation_unit" : "meters",
              "translation_x_mean" : -0.00148052,
              "translation_y_mean" : 0.0379488,
              "translation_z_mean" : -0.0137813,
              "translation_x_variance" : 1,
              "translation_y_variance" : 1,
              "translation_z_variance" : 1,
              "camera" : "1_1"
            }
          ]
        },
        "cameras" : [
          {
            "name" : "0_0",
            "format" : "circular_fisheye_opt",
            "width": 1920,
            "height": 1440,
            "fu_mean": 1057.32,
            "fu_variance": 100,
            "fv_mean": 1054.47,
            "fv_variance": 100,
            "cu_mean": 977.484,
            "cu_variance": 0,
            "cv_mean": 689.178,
            "cv_variance": 0,
            "distorta_mean": 0.170151,
            "distorta_variance": 0,
            "distortb_mean": -0.532653,
            "distortb_variance": 0,
            "distortc_mean": -0.0113902,
            "distortc_variance": 0
          },
          {
            "name" : "0_1",
            "format" : "circular_fisheye_opt",
            "width": 1920,
            "height": 1440,
            "fu_mean": 1063.51,
            "fu_variance": 100,
            "fv_mean": 1061.71,
            "fv_variance": 100,
            "cu_mean": 949.034,
            "cu_variance": 0,
            "cv_mean": 724.317,
            "cv_variance": 0,
            "distorta_mean": 0.197023,
            "distorta_variance": 0,
            "distortb_mean": -0.569303,
            "distortb_variance": 0,
            "distortc_mean": -0.0118721,
            "distortc_variance": 0
          },
          {
            "name" : "1_0",
            "format" : "circular_fisheye_opt",
            "width": 1920,
            "height": 1440,
            "fu_mean": 1056.3,
            "fu_variance": 100,
            "fv_mean": 1060.64,
            "fv_variance": 100,
            "cu_mean": 972.133,
            "cu_variance": 0,
            "cv_mean": 719.975,
            "cv_variance": 0,
            "distorta_mean": 0.257154,
            "distorta_variance": 0,
            "distortb_mean": -0.645621,
            "distortb_variance": 0,
            "distortc_mean": -0.0177543,
            "distortc_variance": 0
          },
          {
            "name" : "1_1",
            "format" : "circular_fisheye_opt",
            "width": 1920,
            "height": 1440,
            "fu_mean": 1058.08,
            "fu_variance": 100,
            "fv_mean": 1059.82,
            "fv_variance": 100,
            "cu_mean": 999.564,
            "cu_variance": 0,
            "cv_mean": 678.732,
            "cv_variance": 0,
            "distorta_mean": 0.239346,
            "distorta_variance": 0,
            "distortb_mean": -0.631099,
            "distortb_variance": 0,
            "distortc_mean": -0.00874628,
            "distortc_variance": 0
          }
        ],
        "list_frames" : [ 10 ]
      }
    }
  ],
  "output": "4i-output_calibration.ptv"
}