mirror of
https://gitlab.freedesktop.org/monado/monado.git
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214 lines
6.1 KiB
JSON
214 lines
6.1 KiB
JSON
{
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"$schema": "http://json-schema.org/draft-07/schema",
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"title": "Monado calibration file schema v2",
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"type": "object",
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"required": [
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"metadata",
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"cameras",
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"opencv_stereo_calibrate"
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],
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"properties": {
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"$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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"metadata": {
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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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}
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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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}
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}
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