SphericalCamera

class SphericalCamera(**kwargs: Any)

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:

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

Seealso:

CameraBase CentralCamera CatadioptricCamera FishEyeCamera

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 (width, height) in pixels, defaults to None

• sensorsize (array_like(2), optional) – image sensor size (width, height), 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

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)
distortion	Set/Get distortion model (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)