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.
Returns the default intrinsic matrix.
from_extrinsics_file
(filename)Load the camera transformation from an 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
Returns the camera pose in the world coordinate system (i.e. the extrinsics matrix in the form of (translation, rotation)).
Intrinsic matrix of the camera.
Extrinsic matrix of the camera.
- __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.
- 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.
- 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.