retinify · SensuiYagi · Feb 3, 2026 · Feb 3, 2026
diff --git a/README.md b/README.md
@@ -197,6 +197,9 @@ pipeline.RetrievePointCloud(pointCloud.ptr<float>(), pointCloud.step[0]);
 - 🔨 [**Tutorials**](https://docs.retinify.ai/tutorials.html)  
   Guided explanations of retinify concepts
 
+- 🎯 [**Calibration**](https://docs.retinify.ai/calibration.html)  
+  Calibration Parameters Specification
+
 - 🐍 [**Python Docs**](https://docs.retinify.ai/python.html)  
   Python API documentation
 

diff --git a/docs/Doxyfile b/docs/Doxyfile
@@ -947,6 +947,7 @@ INPUT                  = content/index.md \
                          content/installation.md \
                          content/demos.md \
                          content/tutorials.md \
+                         content/calibration.md \
                          content/python.md \
                          content/cpp.md \
                          content/ros2.md \

diff --git a/docs/content/calibration.md b/docs/content/calibration.md
@@ -0,0 +1,113 @@
+@page calibration Calibration
+
+
+## Calibration Parameters
+
+retinify::CalibrationParameters supports the pinhole camera model.
+
+- Intrinsic Parameters: retinify::Intrinsics
+
+  - Focal lengths: `fx`, `fy`
+  - Principal point: `cx`, `cy`
+  - Skew coefficient: `skew`
+
+- Distortion Coefficients: retinify::Distortion
+
+  - Radial distortion coefficients: `k1`, `k2`, `k3`, `k4`, `k5`, `k6`
+  - Tangential distortion coefficients: `p1`, `p2`
+
+- Rotation matrix: retinify::Mat3x3d
+
+- Translation vector: retinify::Vec3d
+
+
+## Loading Calibration Parameters
+
+retinify::CalibrationParameters can be loaded directly from a JSON file as follows:
+
+<details>
+<summary><strong>Sample Stereo Calibration JSON</strong></summary>
+
+This JSON file defines stereo camera calibration parameters.
+
+```json
+{
+  // Reprojection error after calibration (optional)
+  "calibration_error": 0.0,
+
+  // Calibration timestamp or duration (optional)
+  "calibration_time": 0,
+
+  // Image resolution used for calibration
+  "image_width": 1241,
+  "image_height": 376,
+
+  // Left camera intrinsics
+  "left_intrinsics": {
+    "fx": 718.856,
+    "fy": 718.856,
+    "cx": 607.1928,
+    "cy": 185.2157,
+    "skew": 0.0
+  },
+
+  // Right camera intrinsics
+  "right_intrinsics": {
+    "fx": 718.856,
+    "fy": 718.856,
+    "cx": 607.1928,
+    "cy": 185.2157,
+    "skew": 0.0
+  },
+
+  // Left camera distortion coefficients
+  "left_distortion": {
+    "k1": 0.0,
+    "k2": 0.0,
+    "k3": 0.0,
+    "k4": 0.0,
+    "k5": 0.0,
+    "k6": 0.0,
+    "p1": 0.0,
+    "p2": 0.0
+  },
+
+  // Right camera distortion coefficients
+  "right_distortion": {
+    "k1": 0.0,
+    "k2": 0.0,
+    "k3": 0.0,
+    "k4": 0.0,
+    "k5": 0.0,
+    "k6": 0.0,
+    "p1": 0.0,
+    "p2": 0.0
+  },
+
+  // Rotation matrix
+  "rotation": [
+    [1.0, 0.0, 0.0],
+    [0.0, 1.0, 0.0],
+    [0.0, 0.0, 1.0]
+  ],
+
+  // Translation vector
+  "translation": [-0.5371657, 0.0, 0.0]
+}
+```
+
+</details>
+
+```cpp
+// Load calibration parameters from JSON file
+retinify::CalibrationParameters calib_params;
+retinify::LoadCalibrationParameters("calib.json", calib_params);
+
+// Initialize pipeline with calibration parameters
+retinify::Pipeline pipeline;
+pipeline.Initialize(image_width, 
+                    image_height, 
+                    retinify::PixelFormat::RGB8, 
+                    retinify::DepthMode::ACCURATE, 
+                    calib_params);
+```
diff --git a/docs/content/index.md b/docs/content/index.md
@@ -20,6 +20,7 @@ Retinify is open-source, and the source code is publicly available:
 - [Installation](@ref installation)  
 - [Demos](@ref demos)  
 - [Tutorials](@ref tutorials)  
+- [Calibration](@ref calibration)
 - [Python Docs](@ref python)  
 - [C++ Docs](@ref cpp)  
 - [ROS2 Docs](@ref ros2)