robokudo.utils.camera_model
===========================

.. py:module:: robokudo.utils.camera_model

.. autoapi-nested-parse::

   Camera model calculations shared by camera interfaces.



Classes
-------

.. autoapisummary::

   robokudo.utils.camera_model.PinholeCameraParameters


Functions
---------

.. autoapisummary::

   robokudo.utils.camera_model.pinhole_camera_parameters_from_horizontal_field_of_view


Module Contents
---------------

.. py:class:: PinholeCameraParameters

   Intrinsic pinhole camera parameters.


   .. py:attribute:: width
      :type:  int

      Image width in pixels.



   .. py:attribute:: height
      :type:  int

      Image height in pixels.



   .. py:attribute:: focal_length_x
      :type:  float

      Horizontal focal length in pixels.



   .. py:attribute:: focal_length_y
      :type:  float

      Vertical focal length in pixels.



   .. py:attribute:: center_x
      :type:  float

      Horizontal principal point in pixels.



   .. py:attribute:: center_y
      :type:  float

      Vertical principal point in pixels.



.. py:function:: pinhole_camera_parameters_from_horizontal_field_of_view(width: int, height: int, horizontal_field_of_view_degrees: float) -> PinholeCameraParameters

   Calculate pinhole intrinsics from image size and horizontal field of view.

   :param width: Image width in pixels.
   :param height: Image height in pixels.
   :param horizontal_field_of_view_degrees: Horizontal camera field of view.
   :return: Pinhole camera intrinsic parameters.
   :raises ValueError: If the image size or field of view is invalid.