machinevisiontoolbox.Camera.SphericalCamera

class machinevisiontoolbox.Camera.SphericalCamera(**kwargs)

Create spherical camera projection model

Parameters:

kwargs – arguments passed to CameraBase constructor

The spherical camera is an idealization with a complete field of view that can be used to generalize all camera projection models.

References:

• Robotics, Vision & Control for Python, Section 13.3.3, P. Corke, Springer 2023.

Seealso:

CameraBase CentralCamera CatadioptricCamera FishEyeCamera

__init__(**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

__init__	Abstract camera base class
clf	Clear the virtual image plane (base method)
disp	Display image on virtual image plane (base method)
fov	Camera field-of-view angles
move	Move camera (base method)
plot	Plot 3D camera icon in world view (base method)
plot_line2	Plot 2D 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)
project_conic
project_line
project_point	Project 3D points to image plane
reset	Reset camera pose (base method)
visjac_p	Visual Jacobian for point features

Attributes

camtype	Set/get camera type (base method)
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)