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

syntax = "proto3";

import "google/protobuf/timestamp.proto";

package foxglove;

// Camera calibration parameters
message CameraCalibration {
  // Timestamp of calibration data
  google.protobuf.Timestamp timestamp = 1;

  // 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 = 9;

  // Image width
  fixed32 width = 2;

  // Image height
  fixed32 height = 3;

  // Name of distortion model
  string distortion_model = 4;

  // Distortion parameters
  repeated double D = 5;

  // 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]
  // ```
  repeated double K = 6; // length 9

  // Rectification matrix (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.
  repeated double R = 7; // length 9

  // 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.
  repeated double P = 8; // length 12
}
