{ "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" : 625.0, "fu_variance" : 1.79769e+308, "fv_mean" : 625.0, "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" : 1.79769e+308, "distortb_mean" : 0, "distortb_variance" : 1.79769e+308, "distortc_mean" : 0, "distortc_variance" : 1.79769e+308 } ], "list_frames" : [0] } }, { "name": "scoring", "output": "output_scoring.ptv", "config" : { "first_frame" : 0, "last_frame" : 0 } } ], "output": "output_calibration.ptv" }