// Generated by https://github.com/foxglove/foxglove-sdk

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)
  repeated double K = 6;

  // Rectification matrix (3x3 row-major matrix)
  repeated double R = 7;

  // Projection/camera matrix (3x4 row-major matrix)
  repeated double P = 8;
}