monado/doc/example_configs/calibration_v2.example.json

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{
"$schema": "https://monado.pages.freedesktop.org/monado/calibration_v2.schema.json",
"metadata": {
"version": 2
},
"cameras": [
{
"name": "Fake Camera 0",
"model": "fisheye_equidistant4",
"intrinsics": {
"fx": 428.485,
"fy": 428.485,
"cx": 423.567,
"cy": 240.114
},
"distortion": {
"k1": 0,
"k2": 0,
"k3": 0,
"k4": 0
},
"resolution": {
"width": 848,
"height": 480
}
},
{
"name": "Fake Camera 1",
"model": "pinhole_radtan5",
"intrinsics": {
"fx": 428.485,
"fy": 428.485,
"cx": 423.567,
"cy": 240.114
},
"distortion": {
"k1": 0,
"k2": 0,
"p1": 0,
"p2": 0,
"k3": 0
},
"resolution": {
"width": 848,
"height": 480
}
}
],
"opencv_stereo_calibrate": {
"rotation": [
0.95321815970241375,
0.0408369712626572,
-0.29951207286457837,
-0.0679705814297339,
0.99441512328599491,
-0.080737616017587777,
0.29454225515814791,
0.097318571496875367,
0.950670266479477
],
"translation": [
1.4416754185893419,
1.176208605914552,
-4.208172261903619
],
"essential": [
0.060411219924425982,
4.2991370799395261,
0.77842875260280309,
-4.4359405481998833,
-0.31215080202694384,
-0.11015955723326701,
-1.2191749191904835,
1.385591042076286,
0.23589124131056205
],
"fundamental": [
-2.9769859891445467e-07,
-2.8163083335581391e-05,
-0.0139603067332745,
1.2138399250016221e-05,
1.1354810181647868e-06,
-0.0015106776411851692,
0.0061879358690168085,
0.0041368502945713613,
1
]
}
}