Inheritance diagram for deprojection_2D_to_3D.Deprojection:

Public Member Functions
def	__init__ (self)

def	callback (self, msg_rgb, msg_depth)

def	central_pixel_to_3d (self, depth)

def	DEPRECATED_pixel_to_3d (self, u, v, depth, K, T)

def	get_transformation (self, source_frame, target_frame, tf_cache_duration=2.0)

def	run (self)

def	transform_point (self, transformation, point_wrt_source)

Public Attributes
	cv2_img

	cx

	cy

	depth

	fx

	fy

	img_shape

	rate

	T

Detailed Description

Definition at line 18 of file deprojection_2D_to_3D.py.

Constructor & Destructor Documentation

◆ init()

def deprojection_2D_to_3D.Deprojection.__init__ ( self )

Definition at line 20 of file deprojection_2D_to_3D.py.

Member Function Documentation

◆ callback()

def deprojection_2D_to_3D.Deprojection.callback	(	self,
		msg_rgb,
		msg_depth
	)

Definition at line 62 of file deprojection_2D_to_3D.py.

◆ central_pixel_to_3d()

def deprojection_2D_to_3D.Deprojection.central_pixel_to_3d	(	self,
		depth
	)

Convert central pixel coordinates to 3D coordinates using camera intrinsics and extrinsics.
Note: the central pixel is assumed to be the one for which the laser gives the depth info.

Parameters:
- depth: Depth value of the pixel

Returns:
- Point in 3D space (x, y, z)

Definition at line 79 of file deprojection_2D_to_3D.py.

◆ DEPRECATED_pixel_to_3d()

def deprojection_2D_to_3D.Deprojection.DEPRECATED_pixel_to_3d	(	self,
		u,
		v,
		depth,
		K,
		T
	)

Convert pixel coordinates to 3D coordinates using camera intrinsics and extrinsics.

Parameters:
- u, v: Pixel coordinates in the image
- depth: Depth value of the pixel
- K: Intrinsic camera matrix (3x3)
- T: Extrinsic camera matrix (4x4)

Returns:
- Point in 3D space (x, y, z)

Definition at line 116 of file deprojection_2D_to_3D.py.

◆ get_transformation()

def deprojection_2D_to_3D.Deprojection.get_transformation	(	self,
		source_frame,
		target_frame,
		tf_cache_duration = `2.0`
	)

Definition at line 155 of file deprojection_2D_to_3D.py.

◆ run()

def deprojection_2D_to_3D.Deprojection.run ( self )

Definition at line 45 of file deprojection_2D_to_3D.py.

◆ transform_point()

def deprojection_2D_to_3D.Deprojection.transform_point	(	self,
		transformation,
		point_wrt_source
	)

Definition at line 149 of file deprojection_2D_to_3D.py.

Member Data Documentation

◆ cv2_img

deprojection_2D_to_3D.Deprojection.cv2_img

Definition at line 64 of file deprojection_2D_to_3D.py.

◆ cx

deprojection_2D_to_3D.Deprojection.cx

Definition at line 26 of file deprojection_2D_to_3D.py.

◆ cy

deprojection_2D_to_3D.Deprojection.cy

Definition at line 27 of file deprojection_2D_to_3D.py.

◆ depth

deprojection_2D_to_3D.Deprojection.depth

Definition at line 72 of file deprojection_2D_to_3D.py.

◆ fx

deprojection_2D_to_3D.Deprojection.fx

Definition at line 24 of file deprojection_2D_to_3D.py.

◆ fy

deprojection_2D_to_3D.Deprojection.fy

Definition at line 25 of file deprojection_2D_to_3D.py.

◆ img_shape

deprojection_2D_to_3D.Deprojection.img_shape

Definition at line 66 of file deprojection_2D_to_3D.py.

◆ rate

deprojection_2D_to_3D.Deprojection.rate

Definition at line 22 of file deprojection_2D_to_3D.py.

◆ T

deprojection_2D_to_3D.Deprojection.T

Definition at line 43 of file deprojection_2D_to_3D.py.

The documentation for this class was generated from the following file:

deprojection_2D_to_3D.py

Public Member Functions

Public Attributes