openalea.phenomenal.calibration.calibration.CalibrationCamera

class openalea.phenomenal.calibration.calibration.CalibrationCamera

Bases: CalibrationFrame

A class for calibration of Camera

The camera is a perfect pinhole camera associated to a calibrationframe allowing its positioning in space.

Camera and image frames are as depicted in

https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

That is camera frame origin is image center, z-axis points toward the scene (camera optical axis), x+ is left-> right along image width, y+ is up->down along image height. Image frame origin is top-left, u is left->right along image width, v is up->down along image height

__init__()

Methods

__init__()
dump(filename)
frame(pos_x, pos_y, pos_z, rot_x, rot_y, rot_z)
from_json(save_class)
from_tuple(pars)
get_extrinsic()
get_frame()
get_intrinsic()
get_pixel_coordinates()
get_projection()
image_shape()
load(filename)
pixel_coordinates(point_3d, width_image, ...)	Compute image coordinates of a 3d point positioned in camera frame
pixel_coordinates_2(point_3d, cx, cy, fx, a)	Compute image coordinates of a 3d point
set_vars(d)
to_json()

static pixel_coordinates(point_3d, width_image, height_image, focal_length_x, aspect_ratio)

Compute image coordinates of a 3d point positioned in camera frame

Parameters:

point (-) – a point/array of points in space expressed in camera frame coordinates

Returns:

coordinate of point in image in pix

Return type:

• (int, int)

static pixel_coordinates_2(point_3d, cx, cy, fx, a)

Compute image coordinates of a 3d point

Parameters:

point (-) – a point in space expressed in camera frame coordinates

Returns:

coordinate of point in image in pix

Return type:

• (int, int)