image_geometry¶
image_geometry simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo.
- class image_geometry.PinholeCameraModel¶
A pinhole camera is an idealized monocular camera.
- cx()¶
Returns x center
- cy()¶
Returns y center
- distortionCoeffs()¶
Returns
- fromCameraInfo(msg)¶
Parameters: msg (sensor_msgs.msg.CameraInfo) – camera parameters Set the camera parameters from the sensor_msgs.msg.CameraInfo message.
- fx()¶
Returns x focal length
- fy()¶
Returns y focal length
- intrinsicMatrix()¶
Returns
, also called camera_matrix in cv docs
- project3dToPixel(point)¶
Parameters: point ((x, y, z)) – 3D point Returns the rectified pixel coordinates (u, v) of the 3D point, using the camera
matrix.
This is the inverse of projectPixelTo3dRay().
- projectPixelTo3dRay(uv)¶
Parameters: uv ((u, v)) – rectified pixel coordinates Returns the unit vector which passes from the camera center to through rectified pixel (u, v), using the camera
matrix.
This is the inverse of project3dToPixel().
- projectionMatrix()¶
Returns
- rectifyImage(raw, rectified)¶
Parameters: - raw (CvMat or IplImage) – input image
- rectified (CvMat or IplImage) – rectified output image
Applies the rectification specified by camera parameters
and and to image raw and writes the resulting image rectified.
- rectifyPoint(uv_raw)¶
Parameters: uv_raw ((u, v)) – pixel coordinates Applies the rectification specified by camera parameters
and and to point (u, v) and returns the
pixel coordinates of the rectified point.
- rotationMatrix()¶
Returns
- tfFrame()¶
Returns the tf frame name - a string - of the camera. This is the frame of the sensor_msgs.msg.CameraInfo message.
- class image_geometry.StereoCameraModel¶
An idealized stereo camera.
- fromCameraInfo(left_msg, right_msg)¶
Parameters: - left_msg (sensor_msgs.msg.CameraInfo) – left camera parameters
- right_msg (sensor_msgs.msg.CameraInfo) – right camera parameters
Set the camera parameters from the sensor_msgs.msg.CameraInfo messages.
- getDisparity(Z)¶
Parameters: Z (float) – Z (depth), in cartesian space Returns the disparity observed for a point at depth Z. This is the inverse of getZ().
- getZ(disparity)¶
Parameters: disparity (float) – disparity, in pixels Returns the depth at which a point is observed with a given disparity. This is the inverse of getDisparity().
Note that a disparity of zero implies Z is infinite.
- project3dToPixel(point)¶
Parameters: point ((x, y, z)) – 3D point Returns the rectified pixel coordinates (u, v) of the 3D point, for each camera, as ((u_left, v_left), (u_right, v_right)) using the cameras’
matrices.
This is the inverse of projectPixelTo3d().
- projectPixelTo3d(left_uv, disparity)¶
Parameters: - left_uv ((u, v)) – rectified pixel coordinates
- disparity (float) – disparity, in pixels
Returns the 3D point (x, y, z) for the given pixel position, using the cameras’
matrices.
This is the inverse of project3dToPixel().Note that a disparity of zero implies that the 3D point is at infinity.
- tfFrame()¶
Returns the tf frame name - a string - of the 3d points. This is the frame of the sensor_msgs.msg.CameraInfo message. It may be used as a source frame in tf.TransformListener.