{
  "VisionModeSettings" :
  [
    // Frequency settings indicate update period in frames for each mode e.g. "1" runs every frame "4" every fourth etc.
    // Settings other than relativeCost must be Powers Of Two to simplify schedule construction.
    // "relativeCost" is an heuristic weighting to drive separation of heavy-weight tasks between frames where 1 should
    // indicate our lowest cost process e.g. "Markers" is ~16x as resource intensive as "CheckingQuality"
    {
      "mode"         : "Markers",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 16
    },

    // TODO: Remove with VIC-6838
    {
      "mode"         : "Markers_Off",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Markers_FullFrame",
      // Only a schedule of "1" makes sense because this mode modifier piggybacks on Markers's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Markers_FullHeight",
      // Only a schedule of "1" makes sense because this mode modifier piggybacks on Markers's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Markers_FullWidth",
      // Only a schedule of "1" makes sense because this mode modifier piggybacks on Markers's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Markers_FastRotation",
      // Only a schedule of "1" makes sense because this mode modifier piggybacks on Markers's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Faces",
      // todo VIC-3774: Revert this back to (4,2,1,2) This is a temp solution to deal with the fact that when Faces is
      // not High, weird stuff can happen with face timestamps and poses.
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 16
    },
    {
      "mode"         : "Faces_Crop",
      // Only a schedule of "1" makes sense because this mode modifier piggybacks on Faces' schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 16
    },
    {
      "mode"         : "Pets",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 16
    },
    {
      "mode"         : "Motion",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 4
    },
    {
      "mode"         : "BrightColors",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 4
    },
    {
      "mode"         : "OverheadEdges",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 1
    },
    {
      "mode"         : "Faces_Expression",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Faces_Smile",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Faces_Gaze",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Faces_Blink",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Lasers",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 1
    },
    {
      "mode"         : "Stats",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 2,
      "relativeCost" : 1
    },

    // TODO: Restore once we solve VisionModes and put this vision mode back
    //    {
    //      "mode"         : "OverheadMap",
    //      "low"          : 4,
    //      "med"          : 2,
    //      "high"         : 1,
    //      "standard"     : 2,
    //      "relativeCost" : 1
    //    },

    {
      "mode"         : "SaveImages",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Illumination",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "People",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 4 // right now people detection is not too high, change when things are different
    },
    {
      "mode"         : "Hands",
      "low"          : 4,
      "med"          : 2,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 16
    },
    {
      "mode"         : "AutoExp",
      // NOTE: Should probably be no more frequent than every 5th frame
      "low"          : 5,
      "med"          : 5,
      "high"         : 5,
      "standard"     : 5,
      "relativeCost" : 1 // Basically "free"
    },
    {
      "mode"         : "WhiteBalance",
      // NOTE: Should probably be no more frequent than every 5th frame
      "low"          : 5,
      "med"          : 5,
      "high"         : 5,
      "standard"     : 5,
      "relativeCost" : 1 // Basically "free"
    },
    {
      "mode"         : "AutoExp_Cycling",
      // Only a schedule of "1" makes sense because this mode piggybacks on AutoExp's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1 // Basically "free"
    },
    {
      "mode"         : "Markers_ChargerOnly",
      // Only a schedule of "1" makes sense because this mode piggybacks on Markers' schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1 // Basically "free"
    },
    {
      "mode"         : "AutoExp_MinGain",
      // Only a schedule of "1" makes sense because this mode piggybacks on AutoExp's schedule
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1 // Basically "free"
    },
    {
      "mode"         : "MirrorMode",
      "low"          : 16,
      "med"          : 8,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Viz",
      "low"          : 16,
      "med"          : 8,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Markers_Composite",
      "low"          : 1,
      "med"          : 1,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    },
    {
      "mode"         : "Offboard",
      "low"          : 16,
      "med"          : 8,
      "high"         : 1,
      "standard"     : 1,
      "relativeCost" : 1
    }
  ]
}