Contains a list of all the sensors with each having metadata information like
id
: id of sensor
name
: name of sensor
modality
: lidar / camera
If the sensor is a camera, you can add the camera intrinsic
values as well as the camera_model
. These values are used along with the sensor_pose to create projections between sensors.
camera_model
: one of brown_conrady
or fisheye
If this key doesn't exist or is null, the tool will assume brown_conrady
.
The intrinsics
object contains the following keys:
cx
: principal point x value
cy
: principal point y value
fx
: focal length in x-axis
fy
: focal length in y-axis
k1, k2, k3, k4, k5, k6
: Radial distortion coefficients
p1, p2
: Tangential distortion coefficients
skew
: camera skew coefficient
scale_factor
: The factor by which the image has been downscaled (For example, scale_factor will be 2 if the original image is twice as large as the downscaled image)
If the camera_model
is brown_conrady
then the distortion coefficients should be one of the following combinations:
k1, k2, p1, p2, k3, k4, k5, k6
If the camera_model
is fisheye
then the distortion coefficients should be the following combination:
The remaining coefficients can be ignored or be assigned a value of 0