Standard Camera Calibrations
The Camera calibration format is based on OpenCVs format and
this paper. The different camera types supported are: PINHOLE, FISHEYE, KANNALA, PRINCIPALPOINTDIST, and FUSEDCYLINDRICAL.
If your calibration model is not supported, you can also provide a custom camera calibration where
you provide the implementation in the form of a WebAssembly module.
Common
All camera calibrations have the following attributes
| Key | Value | Parameters |
|---|---|---|
rotation_quaternion | A RotationQuaternion object | w, x, y, z |
position | A Position object | x, y, z |
camera_matrix | A CameraMatrix object | fx, fy, cx, cy |
image_width | Integer | NA |
image_height | Integer | NA |
field_of_view | Float | NA |
Pinhole
The PINHOLE camera model expands the common model with:
| Key | Value | Parameters |
|---|---|---|
distortion_coefficients | A DistortionCoefficients object | k1, k2, p1, p2, k3 |
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Fisheye
The Fisheye camera model expands the PINHOLE model with the following
| Key | Value | Parameters |
|---|---|---|
xi | Float | NA |
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Kannala
The KANNALA camera model changes and expands the PINHOLE with the following
| Key | Value | Parameters |
|---|---|---|
distortion_coefficients | A KannalaDistortionCoefficients object. The distortion parameters k3, k4, if available, can be assigned to p1 and p2 respectively. That is p1=k3 and p2=k4. | k1, k2, p1, p2 |
undistortion_coefficients | A UndistortionCoefficients object. | l1, l2, l3, l4 |
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Principal point distortion
The principal point distortion model consists of the common attributes plus
| Key | Value | Parameters |
|---|---|---|
principal_point_distortion_coefficients | A PrincipalPointDistortionCoefficients object | k1, k2 |
lens_projection_coefficients (optional. Default to values for model SF806) | A LensProjectionCoefficients object | c1, c2,c3, c4,c5, c6 |
distortion_center | A DistortionCenter object | x, y |
principal_point | A PrincipalPoint object | x, y |
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Fused cylindrical
The fused cylindrical model consists of the common attributes plus
| Key | Value | Parameters |
|---|---|---|
cut_angles_degree | A CutAngles object. Note these angles should be expressed in degrees. | upper, lower |
vertical_fov_degree (optional. Default 72.5 degrees) | Float. Note this angle should be expressed in degrees. | NA |
horizontal_fov_degree (optional. Default 93 degrees) | Float. Note this angle should be expressed in degrees. | NA |
max_altitude_angle_degree (optional. Default 90 degrees) | Float. Note this angle should be expressed in degrees. | NA |
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Cylindrical
The cylindrical model consists only of the common attributes. There are no extra attributes to set for this model.
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Principal point fisheye
The principal point fisheye model consists of the common attributes plus
| Key | Value | Parameters |
|---|---|---|
principal_point_fisheye_coefficients | A PrincipalPointFisheyeCoefficients object | alpha_l, alpha_r, beta_u, beta_l |
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