# foxglove_msgs/CameraCalibration
# Camera calibration parameters

# Generated by https://github.com/foxglove/schemas

# Timestamp of calibration data
time timestamp

# Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
string frame_id

# Image width
uint32 width

# Image height
uint32 height

# Name of distortion model
# 
# Supported parameters: `plumb_bob` (k1, k2, p1, p2, k3) and `rational_polynomial` (k1, k2, p1, p2, k3, k4, k5, k6). Distortion models are based on [OpenCV's](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) [pinhole camera model](https://en.wikipedia.org/wiki/Distortion_%28optics%29#Software_correction). This is the same [implementation used by ROS](http://docs.ros.org/en/diamondback/api/image_geometry/html/c++/pinhole__camera__model_8cpp_source.html)
string distortion_model

# Distortion parameters
float64[] D

# Intrinsic camera matrix (3x3 row-major matrix)
# 
# A 3x3 row-major matrix for the raw (distorted) image.
# 
# Projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx, fy) and principal point (cx, cy).
# 
# ```
#     [fx  0 cx]
# K = [ 0 fy cy]
#     [ 0  0  1]
# ```
float64[9] K

# Rectification matrix (stereo cameras only, 3x3 row-major matrix)
# 
# A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.
float64[9] R

# Projection/camera matrix (3x4 row-major matrix)
# 
# ```
#     [fx'  0  cx' Tx]
# P = [ 0  fy' cy' Ty]
#     [ 0   0   1   0]
# ```
# 
# By convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image. That is, the left 3x3 portion is the normal camera intrinsic matrix for the rectified image.
# 
# It projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx', fy') and principal point (cx', cy') - these may differ from the values in K.
# 
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will also have R = the identity and P[1:3,1:3] = K.
# 
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the position of the optical center of the second camera in the first camera's frame. We assume Tz = 0 so both cameras are in the same stereo image plane. The first camera always has Tx = Ty = 0. For the right (second) camera of a horizontal stereo pair, Ty = 0 and Tx = -fx' * B, where B is the baseline between the cameras.
# 
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto the rectified image is given by:
# 
# ```
# [u v w]' = P * [X Y Z 1]'
#        x = u / w
#        y = v / w
# ```
# 
# This holds for both images of a stereo pair.
float64[12] P