machinevisiontoolbox.Camera.CentralCamera

class machinevisiontoolbox.Camera.CentralCamera(f=1, distortion=None, **kwargs)

Create central camera projection model

Parameters:

• f (float, optional) – focal length, defaults to 8mm

• distortion (array_like(5), optional) – camera distortion parameters, defaults to None

• kwargs – arguments passed to CameraBase constructor

A camera object contains methods for projecting 3D points and lines to the image plane, as well as supporting a virtual image plane onto which 3D points and lines can be drawn.

References:

• Robotics, Vision & Control for Python, Section 13.1, P. Corke, Springer 2023.

Seealso:

CameraBase FishEyeCamera SphericalCamera

__init__(f=1, distortion=None, **kwargs)

Abstract camera base class

Parameters:

• name (str, optional) – camera instance name, defaults to None

• camtype (str, optional) – camera projection type, defaults to ‘central’

• rho (scalar or array_like(2), optional) – pixel size, defaults to 1

• imagesize (int or array_like(2), optional) – image dimension in pixels, defaults to None

• sensorsize (array_like(2), optional) – image sensor size, defaults to None

• pp (array_like(2), optional) – principal point position, defaults to None

• noise (float, optional) – standard deviation of image plane projection noise, defaults to None

• pose (SE3, optional) – camera pose, defaults to None

• limits (array_like(4), optional) – bounds of virtual image plane [umin, umax, vmin, vmax], defaults to None

• labels (2-tuple of str, optional) – axis labels for virtual image plane, defaults to ('u', 'v')

• seed (int, optional) – random number seed for projection noise, defaults to None

Raises:

• TypeError – name must be a string

• TypeError – camtype must be a string

• ValueError – rho must be a 1- or 2-element vector

This abstract class is the base for all camera projection model classes. All baseclass constructors support these options.

Methods

C	Camera projection matrix
Default	Set default central camera parameters
E	Essential matrix from two camera views
F	Fundamental matrix
H	Compute homography from plane and camera pose
__init__	Abstract camera base class
clf	Clear the virtual image plane (base method)
decomposeC	Decompose camera calibration matrix
decomposeE	Decompose essential matrix
decomposeH	Decompose homography matrix
derivatives	Compute projection and derivatives for bundle adjustment
disp	Display image on virtual image plane (base method)
distort	Compute distorted coordinate
epidist	Epipolar distance
epiline	Compute epipolar line
estpose	Estimate object pose
flowfield	Display optical flow field
fov	Camera field-of-view angles
images2C	Calibrate camera from checkerboard images
move	Move camera (base method)
plot	Plot 3D camera icon in world view (base method)
plot_epiline	Plot epipolar line
plot_line2	Plot 2D line on virtual image plane (base method)
plot_line3	Plot 3D line on virtual image plane (base method)
plot_point	Plot points on virtual image plane (base method)
plot_wireframe	Plot 3D wireframe in virtual image plane (base method)
points2C	Estimate camera matrix from data points
points2E	Essential matrix from points
points2F	Estimate fundamental matrix from corresponding points
points2H	Estimate homography from corresponding points
project_conic
project_line	Project 3D lines to image plane
project_point	Project 3D points to image plane
project_quadric	Project 3D quadric to image plane
ray	Project image plane points to a ray
reset	Reset camera pose (base method)
visjac_e	Visual Jacobian for ellipse features
visjac_l	Visual Jacobian for line features
visjac_p	Visual Jacobian for point features
visjac_p_polar	Visual Jacobian for point features in polar coordinates

Attributes

K	Intrinsic matrix of camera
camtype	Set/get camera type (base method)
center	Position of camera frame
centre	Position of camera frame
f	Set/get focal length
fpix	Get focal length in pixels
fu	Get focal length in horizontal direction
fv	Get focal length in vertical direction
height	Get image plane height (base method)
imagesize	Set/get size of virtual image plane (base method)
name	Set/get camera name (base method)
noise	Set/Get projection noise (base method)
nu	Get image plane width (base method)
nv	Get image plane height (base method)
pose	Set/get camera pose (base method)
pp	Set/get principal point coordinate (base method)
rho	Get pixel dimensions (base method)
rhou	Get pixel width (base method)
rhov	Get pixel width (base method)
u0	Get principal point: horizontal coordinate (base method)
v0	Get principal point: vertical coordinate (base method)
width	Get image plane width (base method)