{
  "algorithms" : [
    {
      "name": "calibration",
      "config" : {
        "apply_presets_only" : true,
        "cameras" : [
          {
            "name" : "camera_0",
            "format" : "circular_fisheye_opt",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 1035.6,
            "fu_variance" : 2681.17,
            "fv_mean" : 1046.15,
            "fv_variance" : 2736.07,
            "cu_mean" : 840.214,
            "cu_variance" : 23593,
            "cv_mean" : 825.362,
            "cv_variance" : 23593,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : -0.401758,
            "distortb_variance" : 0.0403524,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_1",
            "format" : "circular_fisheye_opt",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 1035.6,
            "fu_variance" : 2681.17,
            "fv_mean" : 1046.15,
            "fv_variance" : 2736.07,
            "cu_mean" : 850.865,
            "cu_variance" : 23593,
            "cv_mean" : 646.693,
            "cv_variance" : 23593,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : -0.381561,
            "distortb_variance" : 0.0363972,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_2",
            "format" : "circular_fisheye_opt",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 1035.6,
            "fu_variance" : 2681.17,
            "fv_mean" : 1046.15,
            "fv_variance" : 2736.07,
            "cu_mean" : 1051.77,
            "cu_variance" : 23593,
            "cv_mean" : 670.026,
            "cv_variance" : 23593,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : -0.438728,
            "distortb_variance" : 0.0481206,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          },
          {
            "name" : "camera_3",
            "format" : "circular_fisheye_opt",
            "width" : 1920,
            "height" : 1440,
            "fu_mean" : 1035.6,
            "fu_variance" : 2681.17,
            "fv_mean" : 1046.15,
            "fv_variance" : 2736.07,
            "cu_mean" : 1006.67,
            "cu_variance" : 23593,
            "cv_mean" : 720.774,
            "cv_variance" : 23593,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : -0.311981,
            "distortb_variance" : 0.024333,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          }
        ],
        "rig" : {
          "name" : "Orah 4i",
          "rigcameras" : [
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 9.78323,
              "pitch_mean" : -21.6645,
              "roll_mean" : -90.5353,
              "yaw_variance" : 1,
              "pitch_variance" : 4,
              "roll_variance" : 9,
              "camera" : "camera_0"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -175.222,
              "pitch_mean" : -25.8992,
              "roll_mean" : -92.0216,
              "yaw_variance" : 1,
              "pitch_variance" : 4,
              "roll_variance" : 9,
              "camera" : "camera_1"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : -91.8441,
              "pitch_mean" : 25.7108,
              "roll_mean" : -92.363,
              "yaw_variance" : 1,
              "pitch_variance" : 4,
              "roll_variance" : 9,
              "camera" : "camera_2"
            },
            {
              "angle_unit" : "degrees",
              "yaw_mean" : 91.9556,
              "pitch_mean" : 21.9601,
              "roll_mean" : -88.3403,
              "yaw_variance" : 1,
              "pitch_variance" : 4,
              "roll_variance" : 9,
              "camera" : "camera_3"
            }
          ]
        }
      }
    }
  ],
  "output": "output_template.json",
  "outputPtv": [
    {
      "name" : "output_template.ptv",
      "outputFile": {
        "name" : "out-vs",
        "type" : "jpg"
      }
    }
  ]
}
