{
	"vision": {
		"type": "stereovideo",
		"uri": "ftl://utu.fi/dummy/rgb-d",
		"middlebury": {
			"dataset": "",
			"threshold": 2.0,
			"scale": 0.5
		},
		"source": {
			"flip": false,
			"nostereo": false,
			"scale": 1.0,
			"flip_vert": false,
			"max_fps": 25,
			"width": 640,
			"height": 480,
			"crosshair": false
		},
		"calibrate": false,
		"calibration": {
			"board_size": [9,6],
			"square_size": 50,
			"frame_delay": 1.0,
			"num_frames": 35,
			"assume_zero_tangential_distortion": true,
			"fix_aspect_ratio": true,
			"fix_principal_point_at_center": true,
			"use_fisheye_model": false,
			"fix_k1": false,
			"fix_k2": false,
			"fix_k3": false,
			"fix_k4": true,
			"fix_k5": true,
			"save": true,
			"use_intrinsics": true,
			"use_extrinsics": true,
			"flip_vertical": false
		},
		"camera": {
			"name": "Panasonic Lumix DMC-FZ300",
			"focal_length": 25,
			"sensor_width": 6.17,
			"base_line": 0.1
		},
		"disparity": {
			"algorithm": "libsgm",
			"use_cuda": true,
			"minimum": 0,
			"maximum": 256,
			"tau": 0.0,
			"gamma": 0.0,
			"window_size": 5,
			"sigma": 1.5,
			"lambda": 8000.0,
			"filter": true,
			"use_filter": false,
			"filter_radius": 7,
			"filter_iter": 3
		},
		"display": {
			"flip_vert": false,
			"disparity": false,
			"points": false,
			"depth": false,
			"left": false,
			"right": false
		},
		"net": {
			"listen": "tcp://*:9001",
			"peers": []
		},
		"stream": {
			"name": "dummy"
		}
	},
	"reconstruction": {
		"net": {
			"listen": "tcp://*:9002",
			"peers": ["tcp://localhost:9001"]
		},
		"sources": [{"type": "net", "uri": "ftl://utu.fi/dummy/rgb-d"}],
		"display": {
			"flip_vert": false,
			"disparity": false,
			"points": true,
			"depth": false,
			"left": false,
			"right": false
		},
		"virtual": {
			"hash_renderer": true,
			"SDFRayIncrementFactor": 0.8,
			"SDFTruncation": 0.1,
			"SDFRayThresSampleDistFactor": 50.5,
			"SDFRayThresDistFactor": 50.0,
			"focal": 400,
			"width": 640,
			"height": 480,
			"max_depth": 10.0,
			"min_depth": 0.1,
			"SDFUseGradients": false,
			"uri": "ftl://utu.fi/virt1/rgb-d"
		},
		"voxelhash": {
			"adapterWidth": 852,
			"adapterHeight": 480,
			"sensorDepthMax": 8.0,
			"sensorDepthMin": 1.0,
			"SDFRayIncrementFactor": 0.8,
			"SDFRayThresSampleDistFactor": 50.5,
			"SDFRayThresDistFactor": 50.0,
			"SDFUseGradients": false,
			"hashNumBuckets": 500000,
			"hashMaxCollisionLinkedListSize": 7,
			"hashNumSDFBlocks": 300000,
			"SDFVoxelSize": 0.01,
			"SDFMaxIntegrationDistance": 15.0,
			"SDFTruncation": 0.1,
			"SDFTruncationScale": 0.05,
			"SDFIntegrationWeightSample": 10,
			"SDFIntegrationWeightMax": 255,
			"hash_renderer": true
		},
		"registration": {
			"reference-source" : "ftl://utu.fi/dummy/rgb-d",
			"calibration" : {
				"run": false,
				"iterations" : 10,
				"delay" : 1000,
				"patternsize" : [9, 6]
				}
		},
		"gui": {
			"net": {
				"peers": ["tcp://localhost:9002"]
			},
			"sources": [{"type": "net", "uri": "ftl://utu.fi/virt1/rgb-d"}]
		}
	}
}