{
  "algorithms" : [
    {
      "name": "calibration",
      "config" : {
        "cp_extractor" : {
          "extractor" : "AKAZE",
          "matcher_norm" : "HAMMING",
          "octaves" : 1,
          "sublevels" : 2,
          "threshold" : 0.001,
          "nndr_ratio" : 0.6
        },
        "cp_filter" : {
          "angle_threshold" : 2,
          "min_ratio_inliers" : 0.7,
          "min_samples_for_fit" : 3,
          "ratio_outliers" : 0.5,
          "proba_draw_outlier_free_samples" : 0.99,
          "decimating_grid_size" : 0.04
        },
        "optimizer" : {
          "bundle_adjustment" : [
            {
              "vars" : "y# p# r#",
              "num_iterations" : 2000
            },
            {
              "vars" : "y# p# r# f b",
              "num_iterations" : 2000
            }
          ]
        },
        "improve_mode" : false,
        "rig" : {
          "name" : "default",
          "rigcameras" : [
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            },
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            },
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            },
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            },
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            },
            {
              "yaw_mean" : 0,
              "pitch_mean" : 0,
              "roll_mean" : 0,
              "yaw_variance" : 1.79769e+308,
              "pitch_variance" : 1.79769e+308,
              "roll_variance" : 1.79769e+308,
              "camera" : "default"
            }
          ]
        },
        "cameras" : [
          {
            "name" : "default",
            "format" : "ff_fisheye",
            "width" : 1280,
            "height" : 960,
            "fu_mean" : 600,
            "fu_variance" : 1.79769e+308,
            "fv_mean" : 600,
            "fv_variance" : 1.79769e+308,
            "cu_mean" : 640,
            "cu_variance" : 1.79769e+308,
            "cv_mean" : 480,
            "cv_variance" : 1.79769e+308,
            "distorta_mean" : 0,
            "distorta_variance" : 0,
            "distortb_mean" : 0,
            "distortb_variance" : 1.79769e+308,
            "distortc_mean" : 0,
            "distortc_variance" : 0
          }
        ],
        "list_frames" : [0]
      }
    },
    {
      "name": "scoring",
      "output": "output_scoring.ptv",
      "config" : {
        "first_frame" : 0,
        "last_frame" : 0
      }
    }
  ],
  "output": "output_calibration.ptv"
}
