frame.add_coordinate_frame_2d(
# String identifier for this coordinate frame.
coord_frame_id="camera_1_coordinate_frame",
# focal length x in pixels.
# focal length y in pixels.
# Optional: Either "fisheye" for the fisheye model,
# or "brown_conrady" for the pinhole model with
# Brown-Conrady distortion.
camera_model=camera_model
# Optional: Dict of the form {x, y, z}.
# Optional: Quaternion rotation dict of the form {w, x, y, z}.
# Optional: 4x4 row major order camera matrix mapping
# 3d world space to camera space (x right, y down, z forward).
# Keep in mind, if you pass in the camera matrix it will stack
# on top of the position/orientation you pass in as well. This
# is only needed if you cannot properly represent your camera
# using the position/orientation parameters.
camera_matrix=camera_matrix,
# Optional: optical center pixel x coordinate.
# Optional: optical center pixel y coordinate.
# Optional: k1 radial distortion coefficient (Brown-Conrady, fisheye).
# Optional: k2 radial distortion coefficient (Brown-Conrady, fisheye).
# Optional: k3 radial distortion coefficient (Brown-Conrady, fisheye).
# Optional: k4 radial distortion coefficient (Brown-Conrady, fisheye).
# Optional: k5 radial distortion coefficient (Brown-Conrady).
# Optional: k6 radial distortion coefficient (Brown-Conrady).
# Optional: p1 tangential distortion coefficient (Brown-Conrady).
# Optional: p2 tangential distortion coefficient (Brown-Conrady).
# Optional: s1 thin prism distortion coefficient (Brown-Conrady).
# Optional: s2 thin prism distortion coefficient (Brown-Conrady).
# Optional: s3 thin prism distortion coefficient (Brown-Conrady).
# Optional: s4 thin prism distortion coefficient (Brown-Conrady).
# Optional: camera skew coefficient (fisheye).
# Optional: String id of the parent coordinate frame.
parent_frame_id=parent_frame_id