Developer's Guide

Supported distortion model

We support 2 image distortion models

  1. brown_conrady &
  2. fisheye

  • A key camera_model in sensor_data.sensor_meta should be there which can expect two values brown_conrady & fisheye

  • If this key doesn't exist or is null, we assume brown_conrady

We will also expect a key called intrinsics.skew. If it is available it will be used in fisheye model.

"sensor_meta": [
        {
          "id": "lidar",
          "name": "lidar",
          "state": "editable",
          "modality": "lidar",
          "primary_view": true
        },
        {
          "id": "18158562",
          "name": "18158562",
          "state": "editable",
          "modality": "camera",
          "primary_view": false,
          "camera_model": "brown_conrady",
          "intrinsics": {
            "cx": 0,
            "cY": 0,
            "fx": 0,
            "fy": 0,
            "k1": 0,
            "k2": 0,
            "k3": 0,
            "k4": 0,
            "p1": 0,
            "p2": 0,
            "skew": 0,
            "scale_factor": 1
          }
        }
      ]

In intrinsics, Brown-conrady expects one of these exact combinations:

  1. k1, k2, p1, p2 or
  2. k1, k2, p1, p2, k3 or
  3. k1, k2, p1, p2, k3, k4, k5, k6

In intrinsics, Fisheye expects one of these exact combinations:

  1. k1, k2, k3, k4 or
  2. k1, k2, k3, k4, skew