robokudo.utils.camera_model¶

Camera model calculations shared by camera interfaces.

Classes¶

PinholeCameraParameters

Intrinsic pinhole camera parameters.

Functions¶

pinhole_camera_parameters_from_horizontal_field_of_view(...)

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

Module Contents¶

class robokudo.utils.camera_model.PinholeCameraParameters¶

Intrinsic pinhole camera parameters.

width: int¶: Image width in pixels.

height: int¶: Image height in pixels.

focal_length_x: float¶: Horizontal focal length in pixels.

focal_length_y: float¶: Vertical focal length in pixels.

center_x: float¶: Horizontal principal point in pixels.

center_y: float¶: Vertical principal point in pixels.

robokudo.utils.camera_model.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.

Parameters:

width – Image width in pixels.
height – Image height in pixels.
horizontal_field_of_view_degrees – Horizontal camera field of view.

Returns:

Pinhole camera intrinsic parameters.

Raises:

ValueError – If the image size or field of view is invalid.