openalea.phenomenal.calibration.object.CalibrationCamera#

class openalea.phenomenal.calibration.object.CalibrationCamera[source]#

Bases: CalibrationFrame

A class for calibration of Camera

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

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__()[source]#

Methods

__init__()

distance_to(xyz)

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

pixel_size_at(xyz)

set_vars(d)

to_json()

Attributes

distance_to_origin

pixel_size_at_origin

size of pixel (world unit) at world origin
static pixel_coordinates(point_3d, width_image, height_image, focal_length_x, aspect_ratio)[source]#

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)[source]#

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)

property pixel_size_at_origin#

size of pixel (world unit) at world origin