monado/doc/example_configs/calibration_v2.schema.json

{
    "$schema": "http://json-schema.org/draft-07/schema",
    "title": "Monado calibration file schema v2",
    "type": "object",
    "required": [
        "metadata",
        "cameras",
        "opencv_stereo_calibrate"
    ],
    "properties": {
        "$schema": {
            "type": "string",
            "title": "JSON Schema directive",
            "default": "https://monado.pages.freedesktop.org/monado/calibration_v2.schema.json"
        },
        "metadata": {
            "description": "Calibration file metadata",
            "type": "object",
            "required": [
                "version"
            ],
            "properties": {
                "version": {
                    "const": 2
                }
            }
        },
        "cameras": {
            "type": "array",
            "minItems": 2,
            "maxItems": 2,
            "description": "Stereo calibrated cameras",
            "items": {
                "$ref": "#/$defs/camera"
            }
        },
        "opencv_stereo_calibrate": {
            "$ref": "#/$defs/opencv_stereo_calibrate"
        }
    },
    "$defs": {
        "camera": {
            "type": "object",
            "required": [
                "name",
                "model",
                "intrinsics",
                "distortion",
                "resolution"
            ],
            "properties": {
                "name": {
                    "$ref": "#/$defs/camera_name"
                },
                "model": {
                    "description": "Camera and distortion model",
                    "enum": [
                        "pinhole_radtan5",
                        "fisheye_equidistant4"
                    ]
                },
                "intrinsics": {
                    "type": "object",
                    "required": [
                        "fx",
                        "fy",
                        "cx",
                        "cy"
                    ],
                    "properties": {
                        "fx": {
                            "type": "number"
                        },
                        "fy": {
                            "type": "number"
                        },
                        "cx": {
                            "type": "number"
                        },
                        "cy": {
                            "type": "number"
                        }
                    }
                },
                "distortion": {
                    "description": "Parameters for the specified distortion model. radtan5: k1,k2,p1,p2,k3. equidistant4: k1,k2,k3,k4.",
                    "$comment": "There is no easy way to enforce the fields parameters in the schema based on the `model` property, the if-then validation could help but still would be very cumbersome.",
                    "oneOf": [
                        {
                            "$ref": "#/$defs/equidistant4"
                        },
                        {
                            "$ref": "#/$defs/radtan5"
                        }
                    ]
                },
                "resolution": {
                    "type": "object",
                    "required": [
                        "width",
                        "height"
                    ],
                    "properties": {
                        "width": {
                            "type": "integer"
                        },
                        "height": {
                            "type": "integer"
                        }
                    }
                }
            }
        },
        "camera_name": {
            "description": "Display name; not necessarily unique.",
            "type": "string",
            "maxLength": 128
        },
        "opencv_stereo_calibrate": {
            "description": "Data produced by cv::stereoCalibrate.",
            "type": "object",
            "required": [
                "rotation",
                "translation",
                "essential",
                "fundamental"
            ],
            "additionalProperties": false,
            "properties": {
                "rotation": {
                    "$ref": "#/$defs/mat3x3d"
                },
                "translation": {
                    "$ref": "#/$defs/mat3x1d"
                },
                "essential": {
                    "$ref": "#/$defs/mat3x3d"
                },
                "fundamental": {
                    "$ref": "#/$defs/mat3x3d"
                }
            }
        },
        "mat3x3d": {
            "type": "array",
            "items": {
                "type": "number"
            },
            "minItems": 9,
            "maxItems": 9
        },
        "mat3x1d": {
            "type": "array",
            "items": {
                "type": "number"
            },
            "minItems": 3,
            "maxItems": 3
        },
        "equidistant4": {
            "type": "object",
            "required": [
                "k1",
                "k2",
                "k3",
                "k4"
            ],
            "additionalProperties": false,
            "properties": {
                "k1": {
                    "type": "number"
                },
                "k2": {
                    "type": "number"
                },
                "k3": {
                    "type": "number"
                },
                "k4": {
                    "type": "number"
                }
            }
        },
        "radtan5": {
            "type": "object",
            "required": [
                "k1",
                "k2",
                "p1",
                "p2",
                "k3"
            ],
            "additionalProperties": false,
            "properties": {
                "k1": {
                    "type": "number"
                },
                "k2": {
                    "type": "number"
                },
                "p1": {
                    "type": "number"
                },
                "p2": {
                    "type": "number"
                },
                "k3": {
                    "type": "number"
                }
            }
        }
    }
}