concepts.hw_interface.george_vision.object_centric_vision.CameraTransformation#

class CameraTransformation[source]#

Bases: object

Camera transformation class.

Methods

c2w(u, v, d)

Converts a point in the camera coordinate system to the world coordinate system.

default_intrinsics()

Returns the default intrinsic matrix.

from_extrinsics_file(filename)

Load the camera transformation from an extrinsics file.

from_intrinsics_and_extrinsics_file(...)

Load the camera transformation from an intrinsics file and an extrinsics file.

w2c(x, y, z)

Converts a point in the world coordinate system to the camera coordinate system.

Attributes

camera_pose

Returns the camera pose in the world coordinate system (i.e.

intrinsics

Intrinsic matrix of the camera.

extrinsics

Extrinsic matrix of the camera.

__init__(*, intrinsics=None, extrinsics=None)[source]#
__new__(**kwargs)#
c2w(u, v, d)[source]#

Converts a point in the camera coordinate system to the world coordinate system. The inputs can be either scalars or arrays.

Parameters:
  • u (float | ndarray) – u coordinate(s) in the camera coordinate system.

  • v (float | ndarray) – v coordinate(s) in the camera coordinate system.

  • d (float | ndarray) – depth(s) in the camera coordinate system.

Returns:

a tuple of (x, y, z) in the world coordinate system.

classmethod default_intrinsics()[source]#

Returns the default intrinsic matrix.

classmethod from_extrinsics_file(filename)[source]#

Load the camera transformation from an extrinsics file.

classmethod from_intrinsics_and_extrinsics_file(intrinsics_file, extrinsics_file)[source]#

Load the camera transformation from an intrinsics file and an extrinsics file.

w2c(x, y, z)[source]#

Converts a point in the world coordinate system to the camera coordinate system. The inputs can be either scalars or arrays.

Parameters:
  • x (float | ndarray) – x coordinate(s) in the world coordinate system.

  • y (float | ndarray) – y coordinate(s) in the world coordinate system.

  • z (float | ndarray) – z coordinate(s) in the world coordinate system.

Returns:

a tuple of (u, v, z) in the camera coordinate system.

property camera_pose: Tuple[ndarray, ndarray]#

Returns the camera pose in the world coordinate system (i.e. the extrinsics matrix in the form of (translation, rotation)).

Returns:

A tuple of (translation, rotation). Rotation is represented by a matrix.

extrinsics: ndarray | None#

Extrinsic matrix of the camera.

intrinsics: ndarray#

Intrinsic matrix of the camera.