The intrinsics configuration file (intrinsics.ini) is a simple text file used for specifying the intrinsics of the left and right cameras:

# [bool] Enable rectification
enable_rectification =  1

# Camera Intrinsics
# The following models are supported:
# 0: OpenCV Pinhole Model
# 1: OpenCV Fisheye Model
i1_model =  0
i1_fx =  5368.72291
i1_fy =  5368.72291
i1_cx =  1458.95296
i1_cy =  936.28799
i1_k1 =  -0.13332
i1_k2 =  0.98883
i1_k3 =  -5.9473
i1_k4 =  0.0
i1_k5 =  0.0
i1_k6 =  0.0
i1_p1 =  0.001
i1_p2 =  0.00053
i2_model =  0
i2_fx =  5370.75916
i2_fy =  5370.75916
i2_cx =  1431.27415
i2_cy =  935.70973
i2_k1 =  -0.13181
i2_k2 =  0.80715
i2_k3 =  -3.7122
i2_k4 =  0.0
i2_k5 =  0.0
i2_k6 =  0.0
i2_p1 =  -6e-05
i2_p2 =  -0.00035

Camera Model

i1_model and i2_model: Defines the type of camera model used.

• 0: OpenCV Pinhole Model
• 1: OpenCV Fisheye Model

Camera Assignment

• Camera 1 (i1_): Left camera
• Camera 2 (i2_): Right camera

Focal Length

i1_fx, i1_fy and

i2_fx, i2_fy

• Defines the focal length of the camera in pixels.

Principal Point

i1_cx, i1_cy and

i2_cx, i2_cy

• Defines the principal point (optical center) of the camera in pixels.

Radial Distortion Coefficients

i1_k1, i1_k2, i1_k3, i1_k4, i1_k5, i1_k6 and i2_k1, i2_k2, i2_k3, i2_k4, i2_k5, i2_k6

Radial distortion coefficients have different meaning in the pinhole model and in the fisheye model.