Camera calibration files

Each session requires a TOML file in the calibrations/ directory that contains camera parameters for all views in Anipose format. The TOML file must include one [cam_N] section for each camera view, where N is the camera index (0, 1, 2, etc.).

Each camera section must contain:

  • name: A string identifier for the camera (e.g., “cam0”, “left”, “front”)

  • size: Array of two integers [width, height] specifying image dimensions in pixels

  • matrix: 3x3 camera intrinsic matrix as nested arrays

  • distortions: Array of 5 distortion coefficients [k1, k2, p1, p2, k3]

  • rotation: Array of 3 rotation angles in radians (Rodrigues vector)

  • translation: Array of 3 translation values [x, y, z] in world coordinate units

Example TOML calibration file:

[cam_0]
name = "view0"
size = [2816, 1408]
matrix = [
    [1993.4, 0.0, 1408.0],
    [0.0, 1993.4, 704.0],
    [1451.1, 993.0, 1.0]
]
distortions = [-0.121, 0.0, 0.0, 0.0, 0.0]
rotation = [0.830, -2.001, 1.630]
translation = [-0.001, 0.122, 1.482]

[cam_1]
name = "view1"
size = [2816, 1408]
matrix = [
    [1915.1, 0.0, 1408.0],
    [0.0, 1915.1, 704.0],
    [1585.2, 835.4, 1.0]
]
distortions = [-0.057, 0.0, 0.0, 0.0, 0.0]
rotation = [1.883, -0.765, 0.604]
translation = [0.003, 0.089, 1.545]

[metadata]
# Optional metadata section for additional information

The number of camera sections must match the number of views specified in your configuration file.

Calibrations index file

The calibrations.csv file maps each labeled image to its corresponding calibration file. This file must have exactly two columns:

  • First column (no header): The relative path to each labeled image, without view-specific subdirectories. This should match the image paths that appear in your labeled data CSV files, but with any view-specific path components removed.

  • Second column (file header): The relative path to the TOML calibration file for that session.

Example calibrations.csv format:

,file
labeled-data/session0/img00000005.png,calibrations/session0.toml
labeled-data/session0/img00000010.png,calibrations/session0.toml
labeled-data/session0/img00000230.png,calibrations/session0.toml
labeled-data/session1/img00000151.png,calibrations/session1.toml
labeled-data/session1/img00000201.png,calibrations/session1.toml

Note that the first column uses the session name (e.g., session0) rather than the view-specific directory names (e.g., session0_view0, session0_view1).

You will also need to add the location of this file to your configuration file in order to use the 3D loss:

data:
  camera_params_file: /path/to/project/calibrations.csv