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{
"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" : 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" : 0.02
},
"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"
}
]
},
"cameras" : [
{
"name" : "default",
"format" : "circular_fisheye_opt",
"width" : 1920,
"height" : 1440,
"fu_mean" : 1250,
"fu_variance" : 1.79769e+308,
"fv_mean" : 1250,
"fv_variance" : 1.79769e+308,
"cu_mean" : 960,
"cu_variance" : 1.79769e+308,
"cv_mean" : 720,
"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"
}