# Image size is 1024 x 768 pixels
# Using OpenCV (Brown-Conrady) distortion model with two non-linear parameters each for radial and tangential distortion.
# Focal length, horizontal and vertical components (fx, fy)
# Principal point, horizontal and vertical components (cx, cy)
# Radial distortion coefficients (k1, k2, ...)
# Tangential distortion coefficients (p1, p2, ...)
#
# To calculate the distorted image coordinate (u,v) of a point in camera coordinates (X, Y, Z):
# 
# Distortion is applied as: x_d = x(1 + k1*r^2 + k2*r^4) + 2*p1*x*y + p2*(r^2 + 2*x^2)
#                           y_d = y(1 + k1*r^2 + k2*r^4) + 2*p2*x*y + p1*(r^2 + 2*y^2)
#                     where r^2 = x^2 + y^2
#                             x = X/Z
#                             y = Y/Z
#
# The image coordinates are then acquired by matrix multiplication with the intrinsic matrix as:
#  |u|     |fx 0 cx|     |x_d|
#  |v|  =  |0 fy cy|  *  |y_d|
#  |w|     |0  0  1|     | 1 |
# 
# (Since w is 1 in this case we don't need to normalize u and v).
#
# Format: [Camera ID] [Distortion model] [image width] [image height] [fx] [fy] [cx] [cy] [k1] [k2] [p1] [p2]
#
c0 OPENCV 1024 768 868.993378 866.063001 525.942323 420.042529 -0.399431 0.188924 0.000153 0.000571
c1 OPENCV 1024 768 873.382641 876.489513 529.324138 397.272397 -0.397066 0.181925 0.000176 -0.000579