Pinhole Camera¶

Pinhole Camera Data¶

class py123d.datatypes.sensors.PinholeCamera[source]¶

Represents the recording of a pinhole camera including its metadata, image, and extrinsic pose.

Public Data Attributes:

`metadata`	The static `PinholeCameraMetadata` associated with the pinhole camera.
`image`	The image captured by the pinhole camera, as a numpy array.
`extrinsic`	The extrinsic `PoseSE3` of the pinhole camera, relative to the ego vehicle frame.

property metadata: PinholeCameraMetadata¶: The static PinholeCameraMetadata associated with the pinhole camera.

property image: ndarray[tuple[Any, ...], dtype[uint8]]¶: The image captured by the pinhole camera, as a numpy array.

property extrinsic: PoseSE3¶: The extrinsic PoseSE3 of the pinhole camera, relative to the ego vehicle frame.

Pinhole Metadata¶

class py123d.datatypes.sensors.PinholeCameraMetadata[source]¶

Static metadata for a pinhole camera, stored in a log.

Public Data Attributes:

`camera_type`	The `PinholeCameraType` of the pinhole camera.
`intrinsics`	The `PinholeIntrinsics` of the pinhole camera.
`distortion`	The `PinholeDistortion` of the pinhole camera.
`width`	The image width in pixels.
`height`	The image height in pixels.
`aspect_ratio`	The aspect ratio (width / height) of the pinhole camera.
`fov_x`	The horizontal field of view (FOV) of the pinhole camera in radians.
`fov_y`	The vertical field of view (FOV) of the pinhole camera in radians.

Public Methods:

`from_dict`(data_dict)	Create a `PinholeCameraMetadata` from a dictionary.
`to_dict`()	Converts the `PinholeCameraMetadata` to a dictionary.

classmethod from_dict(data_dict)[source]¶

Create a PinholeCameraMetadata from a dictionary.

Parameters:: data_dict (Dict[str, Any]) – A dictionary containing the metadata.
Return type:: PinholeCameraMetadata
Returns:: A PinholeCameraMetadata instance.

to_dict()[source]¶

Converts the PinholeCameraMetadata to a dictionary.

Return type:: Dict[str, Any]
Returns:: A dictionary representation of the PinholeCameraMetadata instance, with default Python types.

property camera_type: PinholeCameraType¶: The PinholeCameraType of the pinhole camera.

property intrinsics: PinholeIntrinsics | None¶: The PinholeIntrinsics of the pinhole camera.

property distortion: PinholeDistortion | None¶: The PinholeDistortion of the pinhole camera.

property width: int¶: The image width in pixels.

property height: int¶: The image height in pixels.

property aspect_ratio: float¶: The aspect ratio (width / height) of the pinhole camera.

property fov_x: float¶: The horizontal field of view (FOV) of the pinhole camera in radians.

property fov_y: float¶: The vertical field of view (FOV) of the pinhole camera in radians.

Pinhole Intrinsics¶

class py123d.datatypes.sensors.PinholeIntrinsics[source]¶

Pinhole camera intrinsics representation.

Public Data Attributes:

`array`	A numpy array representation of the pinhole intrinsics, indexed by `PinholeIntrinsicsIndex`.
`fx`	Focal length in x direction.
`fy`	Focal length in y direction.
`cx`	Optical center x coordinate.
`cy`	Optical center y coordinate.
`skew`	Skew coefficient.
`camera_matrix`	The 3x3 camera intrinsic matrix K.

Inherited from ArrayMixin

`array`	The array representation of the geometric entity.
`shape`	Return the shape of the array.

Public Methods:

`from_array`(array[, copy])	Creates a PinholeIntrinsics from a numpy array, indexed by `PinholeIntrinsicsIndex`.
`from_camera_matrix`(intrinsic)	Create a PinholeIntrinsics from a 3x3 intrinsic matrix.

Inherited from ArrayMixin

`from_array`(array[, copy])	Create an instance from a NumPy array.
`from_list`(values)	Create an instance from a list of values.
`tolist`()	Convert the array to a Python list.
`to_list`()	Convert the array to a Python list.
`copy`()	Return a copy of the object with a copied array.

classmethod from_array(array, copy=True)[source]¶

Creates a PinholeIntrinsics from a numpy array, indexed by PinholeIntrinsicsIndex.

Parameters:

array (ndarray[tuple[Any, ...], dtype[float64]]) – A 1D numpy array containing the intrinsic parameters.
copy (bool) – Whether to copy the array, defaults to True

Return type:

PinholeIntrinsics

Returns:

A PinholeIntrinsics instance.

classmethod from_camera_matrix(intrinsic)[source]¶

Create a PinholeIntrinsics from a 3x3 intrinsic matrix.

Parameters:: intrinsic (ndarray[tuple[Any, ...], dtype[float64]]) – A 3x3 numpy array representing the intrinsic matrix.
Return type:: PinholeIntrinsics
Returns:: A PinholeIntrinsics instance.

property array: ndarray[tuple[Any, ...], dtype[float64]]¶: A numpy array representation of the pinhole intrinsics, indexed by PinholeIntrinsicsIndex.

property fx: float¶: Focal length in x direction.

property fy: float¶: Focal length in y direction.

property cx: float¶: Optical center x coordinate.

property cy: float¶: Optical center y coordinate.

property skew: float¶: Skew coefficient. Not used in most cases.

property camera_matrix: ndarray[tuple[Any, ...], dtype[float64]]¶: The 3x3 camera intrinsic matrix K.

Pinhole Distortion¶

class py123d.datatypes.sensors.PinholeDistortion[source]¶

Pinhole camera distortion representation.

Public Data Attributes:

`array`	A numpy array representation of the pinhole distortion, indexed by `PinholeDistortionIndex`.
`k1`	Radial distortion coefficient k1.
`k2`	Radial distortion coefficient k2.
`p1`	Tangential distortion coefficient p1.
`p2`	Tangential distortion coefficient p2.
`k3`	Radial distortion coefficient k3.

Inherited from ArrayMixin

`array`	The array representation of the geometric entity.
`shape`	Return the shape of the array.

Public Methods:

from_array(array[, copy])

Creates a PinholeDistortion from a numpy array, indexed by PinholeDistortionIndex.

Inherited from ArrayMixin

`from_array`(array[, copy])	Create an instance from a NumPy array.
`from_list`(values)	Create an instance from a list of values.
`tolist`()	Convert the array to a Python list.
`to_list`()	Convert the array to a Python list.
`copy`()	Return a copy of the object with a copied array.

classmethod from_array(array, copy=True)[source]¶

Creates a PinholeDistortion from a numpy array, indexed by PinholeDistortionIndex.

Parameters:

array (ndarray[tuple[Any, ...], dtype[float64]]) – A 1D numpy array containing the distortion parameters.
copy (bool) – Whether to copy the array, defaults to True

Return type:

PinholeDistortion

Returns:

A PinholeDistortion instance.

property array: ndarray[tuple[Any, ...], dtype[float64]]¶: A numpy array representation of the pinhole distortion, indexed by PinholeDistortionIndex.

property k1: float¶: Radial distortion coefficient k1.

property k2: float¶: Radial distortion coefficient k2.

property p1: float¶: Tangential distortion coefficient p1.

property p2: float¶: Tangential distortion coefficient p2.

property k3: float¶: Radial distortion coefficient k3.

Pinhole Camera Types¶

class py123d.datatypes.sensors.PinholeCameraType[source]¶

Enumeration of pinhole camera types.

PCAM_F0 = 0¶: Front camera.

PCAM_B0 = 1¶: Back camera.

PCAM_L0 = 2¶: Left camera, first from front to back.

PCAM_L1 = 3¶: Left camera, second from front to back.

PCAM_L2 = 4¶: Left camera, third from front to back.

PCAM_R0 = 5¶: Right camera, first from front to back.

PCAM_R1 = 6¶: Right camera, second from front to back.

PCAM_R2 = 7¶: Right camera, third from front to back.

PCAM_STEREO_L = 8¶: Left stereo camera.

PCAM_STEREO_R = 9¶: Right stereo camera.