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Calibration file format

Example calibration json file, camera intrinsics followed by camera poses.

Intrinsics:

  • image_size: [width, height]
  • model: lens distortion model type, one of: standard|rational|thin_prism|tilted
  • K: 3x3 camera matrix
  • dist: 1x{4,5,8,11,14} distortion coefficients

Camera poses:

Relative poses of cameras, may either be an absolute camera pose e.g. "cam1", or a relative camera pose in the form of "cam2_to_cam1".

  • R: 3x3 rotation
  • T: (3) translation

Example file

{ "cameras": { "cam1": { "image_size": [ 2000.00, 1500.00 ], "K": [ [2251.52, 0.00, 985.68], [0.00, 2252.80, 763.00], [0.00, 0.00, 1.00] ], "dist": [-0.12, 0.32,-0.00, -0.00,-0.20] }, "cam2": { "image_size": [2000.00, 1500.00], "K": [ [2257.19, 0.00, 983.84], [0.00, 2258.64, 754.08], [0.00, 0.00, 1.00] ], "dist": [ -0.12, 0.39, -0.00, -0.00, -0.28] } }, "camera_poses": { "cam1": { "R": [ [ 1.00, 0.00, 0.00 ], [ 0.00, 1.00, 0.00 ], [ 0.00, 0.00, 1.00 ] ], "T": [ 0.00, 0.00, 0.00 ] }, "cam2_to_cam1": { "R": [ [ 1.00, 0.00, -0.01 ], [ -0.00, 1.00, 0.00 ], [ 0.01, -0.00, 1.00 ] ], "T": [ -0.05, 0.00, 0.00] } } }