kitcar_utils.camera package

Submodules

kitcar_utils.camera.camera_specs module

Classes:

CameraSpecs(focal_length_x, focal_length_y, ...)

Camera specifications usually defined in kitcar-ros.

class CameraSpecs(focal_length_x: float, focal_length_y: float, optical_center_x: float, optical_center_y: float, r11: float, r12: float, r13: float, r21: float, r22: float, r23: float, r31: float, r32: float, r33: float, t1: float, t2: float, t3: float, capture_size: ~typing.Dict[str, float] = <factory>, capture_format: str = 'R8G8B8', clip: ~typing.Dict[str, float] = <factory>, output_size: ~typing.Dict[str, float] = <factory>, update_rate: float = 60, image_topic: str = '/simulation/sensors/raw/camera', info_topic: str = '/simulation/sensors/camera/info')

Bases: InitOptions

Camera specifications usually defined in kitcar-ros.

With this class, the real calibration is used to create the simulated camera model.

This way the camera specifications and calibration are very similar. The calibrations are still not exactly the same and therefore a separate calibration file is loaded!

There are, however, some nuances:

• Instead of considering the complete calibration matrix, only the pitch angle is used to rotate the camera model around the y axis in simulation.

• The real camera crops the image before publishing the image. This is reflected in the different capture_size and output_size.

Attributes:

focal_length_x
focal_length_y
optical_center_x
optical_center_y
r11
r12
r13
r21
r22
r23
r31
r32
r33
t1
t2
t3
capture_size
capture_format
clip
output_size
update_rate
image_topic
info_topic
R	Rotation matrix of the camera.
t	Translation vector from vehicle to camera.
M	Matrix M.
A	Matrix A.
P	Matrix P.
H	Matrix H.
t_vehicle	Translation vector to the camera in vehicle coordinates.
xyz	Translation vector to the camera in vehicle coordinates.
rpy	Vector of roll, pitch, yaw angles of the camera's pose.
horizontal_fov

Methods:

simplify()	Create a simplified calibration from the real one.
save(file_path[, simplify, remove_clip, ...])	Save to file.

focal_length_x: float

focal_length_y: float

optical_center_x: float

optical_center_y: float

r11: float

r12: float

r13: float

r21: float

r22: float

r23: float

r31: float

r32: float

r33: float

t1: float

t2: float

t3: float

capture_size: Dict[str, float]

capture_format: str = 'R8G8B8'

clip: Dict[str, float]

output_size: Dict[str, float]

update_rate: float = 60

image_topic: str = '/simulation/sensors/raw/camera'

info_topic: str = '/simulation/sensors/camera/info'

property R: matrix

Rotation matrix of the camera.

Type:

np.matrix

property t: matrix

Translation vector from vehicle to camera.

In camera coordinates.

Type:

np.ndarray

property M: matrix

Matrix M.

Transformation matrix from vehicle coordinates to camera coordinates.

Type:

np.matrix

property A: matrix

Matrix A.

Transformation matrix from camera coordinates to pixels.

Type:

np.matrix

property P: matrix

Matrix P.

Transformation matrix from vehicle coordinates to pixels.

Type:

np.matrix

property H: matrix

Matrix H.

Transformation matrix from ground vehicle coordinates to pixels.

Type:

np.matrix

property t_vehicle: ndarray

Translation vector to the camera in vehicle coordinates.

Type:

np.ndarray

property xyz: Vector

Translation vector to the camera in vehicle coordinates.

Type:

Vector

property rpy: Vector

Vector of roll, pitch, yaw angles of the camera’s pose.

Type:

Vector

property horizontal_fov: float

simplify()

Create a simplified calibration from the real one.

save(file_path: str, simplify=True, remove_clip=True, remove_sizes=True)

Save to file.

Parameters:

• file_path – Path to file.

• simplify – Simplify the car specs before saving.

• remove_clip – Don’t save clip.

• remove_sizes – Don’t save capture and output_size.

Module contents