{
  "algorithms" : [
    {
      "name": "calibration",
      "config" : {
        "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
            }
          ]
        },
        "improve_mode" : false,
        "apply_presets_only" : false,
        "single_focal" : true,
        "dump_calibration_snapshots" : false,
        "deshuffle_mode_only" : false,
        "deshuffle_mode_preserve_readers_order" : false,
        "deshuffle_mode" : true,
        "rig" : {
          "name" : "360Heroes - H3PRO6 (1440p)",
          "rigcameras" : [
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -109.939,
              "pitch_mean" : -87.391,
              "roll_mean" : 20.6309,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_0"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -0.642906,
              "pitch_mean" : -0.740652,
              "roll_mean" : -1.59987,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_1"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 89.6186,
              "pitch_mean" : 3.24697,
              "roll_mean" : -92.0056,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_2"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -24.8394,
              "pitch_mean" : 85.9389,
              "roll_mean" : -116.45,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_3"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 179.762,
              "pitch_mean" : -0.605354,
              "roll_mean" : 1.12759,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_4"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -88.6535,
              "pitch_mean" : -2.91203,
              "roll_mean" : 90.3811,
              "yaw_variance" : 1,
              "pitch_variance" : 1,
              "roll_variance" : 1,
              "camera" : "camera_5"
            }
          ]
        },
        "cameras" : [
          {
            "name" : "camera_0",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_1",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_2",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_3",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_4",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_5",
            "format" : "ff_fisheye",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 898.13,
            "fu_variance" : 2016.59,
            "fv_mean" : 898.13,
            "fv_variance" : 2016.59,
            "cu_mean" : 960,
            "cu_variance" : 9216,
            "cv_mean" : 720,
            "cv_variance" : 9216,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0.0736025,
            "distortb_variance" : 0.00012189,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          }
        ],
        "list_frames" : [
          2
        ]
      }
    }
  ],
  "outputPtv": [
    {
      "name" : "output_calibration.ptv",
      "outputFile": {
        "name" : "out-vs",
        "type" : "jpg"
      }
    }
  ]
}
