CameraCalibrationData

interface CameraCalibrationData extends HybridObject

Camera Calibration Data is per-frame data used to counter-apply any transformations applied by the Camera/ISP.

It can be useful to undo any distortion correction, or compute scenery in 3D space.

See

• Depth.cameraCalibrationData
• Photo.calibrationData

Properties

cameraExtrinsicsMatrix

readonly cameraExtrinsicsMatrix: number[]

Gets the Camera extrinsic matrix, which maps world space to camera space.

The returned array is a 3x4 matrix with column-major ordering.

K = [ r11 r12 r13 tx ]
    [ r21 r22 r23 ty ]
    [ r31 r32 r33 tz ]

• r: Rotation/orientation
• t: Translation/position (in millimeters)

cameraIntrinsicMatrix

readonly cameraIntrinsicMatrix: number[]

Gets the Camera intrinsic matrix, which maps 3D Camera coordinates to 2D Pixel coordinates.

The returned array is a 3x3 matrix with column-major ordering. Its origin is the top-left of the Frame.

K = [ fx   0  cx ]
    [  0  fy  cy ]
    [  0   0   1 ]

• fx, fy: focal length in pixels
• cx, cy: principal point in pixels

Example

const matrix = calibrationData.cameraIntrinsicMatrix
const fx = matrix[0]
const fy = matrix[4]

intrinsicMatrixReferenceDimensions

readonly intrinsicMatrixReferenceDimensions: Size

The reference frame dimensions used in calculating a camera's principal point.

lensDistortionCenter

readonly lensDistortionCenter: Point

A Point describing the offset of the lens' distortion center from the top left in intrinsicMatrixReferenceDimensions.

pixelSize

readonly pixelSize: number

The size of one pixel at intrinsicMatrixReferenceDimensions in millimeters.