Calibration File Format

CameraKit writes TOML calibration files named Calib_<method>.toml.

Per-camera section

Each camera section contains:

  • name

  • size ([width, height])

  • matrix (3x3 intrinsics)

  • distortions (4 coefficients)

  • rotation (Rodrigues vector)

  • translation

  • intrinsics_error_px (optional)

  • extrinsics_error_px (optional)

Metadata section

The [metadata] section includes:

  • adjusted (bool)

  • intrinsics_error_px (list)

  • extrinsics_error_px (list)

Example

[cam_00]
name = "cam_00"
size = [1920, 1080]
matrix = [[1450.1, 0.0, 960.0], [0.0, 1450.1, 540.0], [0.0, 0.0, 1.0]]
distortions = [0.02, -0.11, 0.0005, 0.0002]
rotation = [0.01, -0.02, 0.03]
translation = [0.0, 0.0, 0.0]
intrinsics_error_px = 0.41
extrinsics_error_px = 0.88

[metadata]
adjusted = false
intrinsics_error_px = [0.41]
extrinsics_error_px = [0.88]