image_geometry

image_geometry simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo.

class image_geometry.PinholeCameraModel[source]

A pinhole camera is an idealized monocular camera.

cx()[source]

Returns x center

cy()[source]

Returns y center

distortionCoeffs()[source]

Returns \(D\)

fromCameraInfo(msg)[source]
Parameters

msg (sensor_msgs.msg.CameraInfo) – camera parameters

Set the camera parameters from the sensor_msgs.msg.CameraInfo message.

fx()[source]

Returns x focal length

fy()[source]

Returns y focal length

intrinsicMatrix()[source]

Returns \(K\), also called camera_matrix in cv docs

project3dToPixel(point)[source]
Parameters

point ((x, y, z)) – 3D point

Returns the rectified pixel coordinates (u, v) of the 3D point, using the camera \(P\) matrix. This is the inverse of projectPixelTo3dRay().

projectPixelTo3dRay(uv)[source]
Parameters

uv ((u, v)) – rectified pixel coordinates

Returns the unit vector which passes from the camera center to through rectified pixel (u, v), using the camera \(P\) matrix. This is the inverse of project3dToPixel().

projectionMatrix()[source]

Returns \(P\)

rectifyImage(raw, rectified)[source]
Parameters

  • raw (CvMat or IplImage) – input image

  • rectified (CvMat or IplImage) – rectified output image

Applies the rectification specified by camera parameters \(K\) and and \(D\) to image raw and writes the resulting image rectified.

rectifyPoint(uv_raw)[source]
Parameters

uv_raw ((u, v)) – pixel coordinates

Applies the rectification specified by camera parameters \(K\) and and \(D\) to point (u, v) and returns the pixel coordinates of the rectified point.

rotationMatrix()[source]

Returns \(R\)

tfFrame()[source]

Returns the tf frame name - a string - of the camera. This is the frame of the sensor_msgs.msg.CameraInfo message.

class image_geometry.StereoCameraModel[source]

An idealized stereo camera.

fromCameraInfo(left_msg, right_msg)[source]
Parameters

  • left_msg (sensor_msgs.msg.CameraInfo) – left camera parameters

  • right_msg (sensor_msgs.msg.CameraInfo) – right camera parameters

Set the camera parameters from the sensor_msgs.msg.CameraInfo messages.

getDisparity(Z)[source]
Parameters

Z (float) – Z (depth), in cartesian space

Returns the disparity observed for a point at depth Z. This is the inverse of getZ().

getZ(disparity)[source]
Parameters

disparity (float) – disparity, in pixels

Returns the depth at which a point is observed with a given disparity. This is the inverse of getDisparity().

Note that a disparity of zero implies Z is infinite.

project3dToPixel(point)[source]
Parameters

point ((x, y, z)) – 3D point

Returns the rectified pixel coordinates (u, v) of the 3D point, for each camera, as ((u_left, v_left), (u_right, v_right)) using the cameras’ \(P\) matrices. This is the inverse of projectPixelTo3d().

projectPixelTo3d(left_uv, disparity)[source]
Parameters

  • left_uv ((u, v)) – rectified pixel coordinates

  • disparity (float) – disparity, in pixels

Returns the 3D point (x, y, z) for the given pixel position, using the cameras’ \(P\) matrices. This is the inverse of project3dToPixel().

Note that a disparity of zero implies that the 3D point is at infinity.

tfFrame()[source]

Returns the tf frame name - a string - of the 3d points. This is the frame of the sensor_msgs.msg.CameraInfo message. It may be used as a source frame in tf.TransformListener.