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https://gitlab.freedesktop.org/monado/monado.git
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doc: Add json schema for new calibration file
This commit is contained in:
Mateo de Mayo
Jakob Bornecrantz
parent
75d57b5831
commit
0268daff2d
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@ -34,7 +34,7 @@ if(BUILD_DOC)
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# request to configure the file
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configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
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# copy the schema
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# copy the schemas
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configure_file(
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${CMAKE_CURRENT_SOURCE_DIR}/example_configs/config_v0.schema.json
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${CMAKE_CURRENT_BINARY_DIR}/html/config_v0.schema.json @ONLY
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@ -43,6 +43,14 @@ if(BUILD_DOC)
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${CMAKE_CURRENT_SOURCE_DIR}/example_configs/config_v0.schema.json.license
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${CMAKE_CURRENT_BINARY_DIR}/html/config_v0.schema.json.license @ONLY
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)
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configure_file(
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${CMAKE_CURRENT_SOURCE_DIR}/example_configs/calibration_v2.schema.json
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${CMAKE_CURRENT_BINARY_DIR}/html/calibration_v2.schema.json @ONLY
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)
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configure_file(
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${CMAKE_CURRENT_SOURCE_DIR}/example_configs/calibration_v2.schema.json.license
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${CMAKE_CURRENT_BINARY_DIR}/html/calibration_v2.schema.json.license @ONLY
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)
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# note the option ALL which allows to build the docs together with the application
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add_custom_target(
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90
doc/example_configs/calibration_v2.example.json
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90
doc/example_configs/calibration_v2.example.json
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@ -0,0 +1,90 @@
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{
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"$schema": "https://monado.pages.freedesktop.org/monado/calibration_v2.schema.json",
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"file": {
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"version": 2,
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"created_on": "2021-11-23T14:33:51Z"
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},
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"cameras": [
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{
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"name": "Fake Camera 0",
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"model": "fisheye_equidistant4",
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"intrinsics": {
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"fx": 428.485,
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"fy": 428.485,
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"cx": 423.567,
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"cy": 240.114
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},
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"distortion": {
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"k1": 0,
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"k2": 0,
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"k3": 0,
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"k4": 0
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},
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"resolution": {
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"width": 848,
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"height": 480
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}
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},
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{
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"name": "Fake Camera 1",
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"model": "pinhole_radtan5",
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"intrinsics": {
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"fx": 428.485,
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"fy": 428.485,
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"cx": 423.567,
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"cy": 240.114
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},
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"distortion": {
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"k1": 0,
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"k2": 0,
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"p1": 0,
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"p2": 0,
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"k3": 0
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},
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"resolution": {
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"width": 848,
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"height": 480
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}
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}
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],
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"opencv_stereo_calibrate": {
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"rotation": [
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0.95321815970241375,
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0.0408369712626572,
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-0.29951207286457837,
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-0.0679705814297339,
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0.99441512328599491,
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-0.080737616017587777,
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0.29454225515814791,
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0.097318571496875367,
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0.950670266479477
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],
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"translation": [
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1.4416754185893419,
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1.176208605914552,
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-4.208172261903619
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],
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"essential": [
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0.060411219924425982,
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4.2991370799395261,
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0.77842875260280309,
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-4.4359405481998833,
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-0.31215080202694384,
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-0.11015955723326701,
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-1.2191749191904835,
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1.385591042076286,
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0.23589124131056205
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],
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"fundamental": [
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-2.9769859891445467e-07,
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-2.8163083335581391e-05,
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-0.0139603067332745,
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1.2138399250016221e-05,
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1.1354810181647868e-06,
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-0.0015106776411851692,
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0.0061879358690168085,
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0.0041368502945713613,
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1
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]
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}
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}
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2
doc/example_configs/calibration_v2.example.json.license
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2
doc/example_configs/calibration_v2.example.json.license
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@ -0,0 +1,2 @@
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Copyright 2021, Collabora, Ltd.
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SPDX-License-Identifier: CC0-1.0
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222
doc/example_configs/calibration_v2.schema.json
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222
doc/example_configs/calibration_v2.schema.json
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@ -0,0 +1,222 @@
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{
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"$schema": "http://json-schema.org/draft-07/schema",
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"title": "Monado calibration file schema v2",
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"type": "object",
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"required": [
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"file",
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"cameras",
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"opencv_stereo_calibrate"
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],
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"properties": {
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"$schema": {
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"type": "string",
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"title": "JSON Schema directive",
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"default": "https://monado.pages.freedesktop.org/monado/calibration_v2.schema.json"
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},
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"file": {
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"description": "Calibration file metadata",
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"type": "object",
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"required": [
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"version"
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],
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"properties": {
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"version": {
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"const": 2
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},
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"created_on": {
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"$ref": "#/$defs/datetime"
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}
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}
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},
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"cameras": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"description": "Stereo calibrated cameras",
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"items": {
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"$ref": "#/$defs/camera"
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}
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},
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"opencv_stereo_calibrate": {
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"$ref": "#/$defs/opencv_stereo_calibrate"
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}
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},
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"$defs": {
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"camera": {
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"type": "object",
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"required": [
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"name",
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"model",
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"intrinsics",
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"distortion",
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"resolution"
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],
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"properties": {
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"name": {
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"$ref": "#/$defs/camera_name"
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},
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"model": {
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"description": "Camera and distortion model",
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"enum": [
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"pinhole_radtan5",
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"fisheye_equidistant4"
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]
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},
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"intrinsics": {
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"type": "object",
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"required": [
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"fx",
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"fy",
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"cx",
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"cy"
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],
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"properties": {
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"fx": {
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"type": "number"
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},
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"fy": {
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"type": "number"
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},
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"cx": {
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"type": "number"
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},
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"cy": {
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"type": "number"
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}
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}
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},
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"distortion": {
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"description": "Parameters for the specified distortion model. radtan5: k1,k2,p1,p2,k3. equidistant4: k1,k2,k3,k4.",
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"$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.",
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"oneOf": [
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{
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"$ref": "#/$defs/equidistant4"
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},
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{
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"$ref": "#/$defs/radtan5"
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}
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]
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},
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"resolution": {
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"type": "object",
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"required": [
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"width",
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"height"
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],
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"properties": {
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"width": {
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"type": "integer"
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},
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"height": {
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"type": "integer"
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}
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}
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}
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}
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},
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"camera_name": {
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"description": "Display name; not necessarily unique.",
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"type": "string",
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"maxLength": 128
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},
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"opencv_stereo_calibrate": {
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"description": "Data produced by cv::stereoCalibrate.",
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"type": "object",
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"required": [
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"rotation",
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"translation",
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"essential",
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"fundamental"
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],
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"additionalProperties": false,
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"properties": {
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"rotation": {
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"$ref": "#/$defs/mat3x3d"
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},
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"translation": {
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"$ref": "#/$defs/mat3x1d"
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},
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"essential": {
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"$ref": "#/$defs/mat3x3d"
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},
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"fundamental": {
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"$ref": "#/$defs/mat3x3d"
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}
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}
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},
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"mat3x3d": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"minItems": 9,
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"maxItems": 9
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},
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"mat3x1d": {
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"type": "array",
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"items": {
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"type": "number"
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},
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"minItems": 3,
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"maxItems": 3
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},
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"equidistant4": {
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"type": "object",
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"required": [
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"k1",
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"k2",
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"k3",
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"k4"
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],
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"additionalProperties": false,
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"properties": {
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"k1": {
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"type": "number"
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},
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"k2": {
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"type": "number"
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},
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"k3": {
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"type": "number"
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},
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"k4": {
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"type": "number"
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}
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}
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},
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"radtan5": {
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"type": "object",
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"required": [
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"k1",
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"k2",
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"p1",
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"p2",
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"k3"
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],
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"additionalProperties": false,
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"properties": {
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"k1": {
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"type": "number"
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},
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"k2": {
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"type": "number"
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},
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"p1": {
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"type": "number"
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},
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"p2": {
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"type": "number"
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},
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"k3": {
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"type": "number"
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}
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}
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},
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"datetime": {
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"$comment": "The format specification might not be asserted against, that's why we also provide a regex pattern",
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"type": "string",
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"format": "date-time",
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"pattern": "^[0-9]{4}-[0-9]{2}-[0-9]{2}T[0-9]{2}:[0-9]{2}:[0-9]{2}Z$"
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}
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}
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}
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2
doc/example_configs/calibration_v2.schema.json.license
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2
doc/example_configs/calibration_v2.schema.json.license
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@ -0,0 +1,2 @@
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Copyright 2021, Collabora, Ltd.
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SPDX-License-Identifier: CC0-1.0
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@ -204,7 +204,7 @@
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"w"
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]
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},
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"vec3": {
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"vector3": {
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"type": "object",
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"title": "Vector3",
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"properties": {
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