F-Theta Camera¶

F-Theta Camera Metadata¶

class py123d.datatypes.FThetaCameraMetadata[source]¶

Metadata for an f-theta polynomial camera.

Public Data Attributes:

`camera_model`	The projection model of this camera.
`camera_name`	The name of the f-theta camera, according to the dataset naming convention.
`camera_id`	The ID of the f-theta camera.
`intrinsics`	The `FThetaIntrinsics` of the f-theta camera, if available.
`width`	The width of the f-theta camera image in pixels.
`height`	The height of the f-theta camera image in pixels.
`camera_to_imu_se3`	The static extrinsic pose of the f-theta camera.
`fov_x`	The horizontal field of view (FOV) in radians, if available.
`fov_y`	The vertical field of view (FOV) in radians, if available.
`angular_aspect_ratio`	The angular aspect ratio (fov_x / fov_y), if available.

Inherited from BaseCameraMetadata

`camera_model`	The projection model of the camera.
`camera_id`	The camera ID, unique within a sensor rig.
`camera_name`	The camera name, according to the dataset naming convention.
`camera_to_imu_se3`	The static extrinsic pose of the camera relative to the IMU frame.
`width`	The width of the camera image in pixels.
`height`	The height of the camera image in pixels.
`channel_type`	The channel type of the camera image.
`modality_type`	Returns the type of the modality that this metadata describes.
`modality_id`	Returns the camera ID as the modality ID.
`aspect_ratio`	The aspect ratio (width / height) of the camera.

Inherited from BaseModalityMetadata

`modality_type`	Returns the type of the modality that this metadata describes.
`modality_id`	Optional identifier for the modality, e.g. sensor ID for sensor modalities.
`modality_key`	Returns a unique key for this modality, combining type and id if applicable.

Public Methods:

`from_dict`(data_dict)	Create a `FThetaCameraMetadata` instance from a dictionary.
`project_to_image`(points_cam)	Project 3D points in camera frame to image pixel coordinates using the f-theta model.
`to_dict`()	Converts the `FThetaCameraMetadata` instance to a Python dictionary.

Inherited from BaseCameraMetadata

project_to_image(points_cam)

Project 3D points in camera frame to image pixel coordinates.

Inherited from BaseMetadata

`to_dict`()	Serialize the metadata instance to a plain Python dictionary.
`from_dict`(data_dict)	Construct a metadata instance from a plain Python dictionary.

Private Methods:

_evaluate_bw_poly(r)

Evaluate the backward polynomial at pixel radius r.

Inherited from BaseCameraMetadata

_compute_in_fov_mask(pixel_coords, depth[, eps])

Compute a boolean mask for points in front of the camera and within image bounds.

classmethod from_dict(data_dict)[source]¶

Create a FThetaCameraMetadata instance from a dictionary.

Parameters:: data_dict (Dict[str, Any]) – Dictionary containing camera metadata.
Return type:: FThetaCameraMetadata
Returns:: A new instance of FThetaCameraMetadata.

property camera_model: CameraModel¶: The projection model of this camera.

property camera_name: str¶: The name of the f-theta camera, according to the dataset naming convention.

property camera_id: CameraID¶: The ID of the f-theta camera.

property intrinsics: FThetaIntrinsics | None¶: The FThetaIntrinsics of the f-theta camera, if available.

property width: int¶: The width of the f-theta camera image in pixels.

property height: int¶: The height of the f-theta camera image in pixels.

property camera_to_imu_se3: PoseSE3¶: The static extrinsic pose of the f-theta camera.

project_to_image(points_cam)[source]¶

Project 3D points in camera frame to image pixel coordinates using the f-theta model.

Uses the forward polynomial to map ray angle to pixel distance from principal point.

Parameters:: points_cam (ndarray[tuple[Any, ...], dtype[float64]]) – (N, 3) array of 3D points in the camera coordinate frame.
Return type:: Tuple[ndarray[tuple[Any, ...], dtype[float64]], ndarray[tuple[Any, ...], dtype[bool]], ndarray[tuple[Any, ...], dtype[float64]]]
Returns:: A tuple of (pixel_coords (N,2), in_fov_mask (N,), depth (N,)).
Raises:: ValueError – If intrinsics are not set.

property fov_x: float | None¶

The horizontal field of view (FOV) in radians, if available.

Computed by evaluating the backward polynomial at the pixel distances from the principal point to the left and right image edges (at pixel-centre coordinates), then summing the two half-angles.

The right-edge distance uses width - 1 - cx to stay within the last valid pixel centre rather than past the sensor boundary.

property fov_y: float | None¶

The vertical field of view (FOV) in radians, if available.

Computed by evaluating the backward polynomial at the pixel distances from the principal point to the top and bottom image edges (at pixel-centre coordinates), then summing the two half-angles.

The bottom-edge distance uses height - 1 - cy to stay within the last valid pixel centre rather than past the sensor boundary.

property angular_aspect_ratio: float | None¶

The angular aspect ratio (fov_x / fov_y), if available.

For f-theta cameras, the angular aspect ratio differs from the pixel aspect ratio (width / height) because the polynomial projection is non-linear. Viewers that assume pinhole geometry should use this ratio instead of aspect_ratio.

to_dict()[source]¶

Converts the FThetaCameraMetadata instance to a Python dictionary.

Return type:: Dict[str, Any]
Returns:: A dictionary representation of the camera metadata.

F-Theta Intrinsics Index¶

class py123d.datatypes.FThetaIntrinsicsIndex[source]¶

Indexing for f-theta camera intrinsic parameters.

Public Data Attributes:

`CX`	Principal point x-coordinate.
`CY`	Principal point y-coordinate.
`FW_POLY_0`	Forward polynomial coefficient 0.
`FW_POLY_1`	Forward polynomial coefficient 1.
`FW_POLY_2`	Forward polynomial coefficient 2.
`FW_POLY_3`	Forward polynomial coefficient 3.
`FW_POLY_4`	Forward polynomial coefficient 4.
`BW_POLY_0`	Backward polynomial coefficient 0.
`BW_POLY_1`	Backward polynomial coefficient 1.
`BW_POLY_2`	Backward polynomial coefficient 2.
`BW_POLY_3`	Backward polynomial coefficient 3.
`BW_POLY_4`	Backward polynomial coefficient 4.

Inherited from int

`real`	the real part of a complex number
`imag`	the imaginary part of a complex number
`numerator`	the numerator of a rational number in lowest terms
`denominator`	the denominator of a rational number in lowest terms

Public Methods:

`FW_POLY`
`BW_POLY`

Inherited from int

`conjugate`	Returns self, the complex conjugate of any int.
`bit_length`()	Number of bits necessary to represent self in binary.
`bit_count`()	Number of ones in the binary representation of the absolute value of self.
`to_bytes`([length, byteorder, signed])	Return an array of bytes representing an integer.
`from_bytes`(bytes[, byteorder, signed])	Return the integer represented by the given array of bytes.
`as_integer_ratio`()	Return integer ratio.

Private Methods:

`_generate_next_value_`(start, count, last_values)	Generate the next value when not given.
`_value_repr_`()	Return repr(self).

Inherited from IntEnum

`_generate_next_value_`(start, count, last_values)	Generate the next value when not given.
`_value_repr_`()	Return repr(self).

Inherited from ReprEnum

_generate_next_value_(start, count, last_values)

Generate the next value when not given.

Inherited from Enum

`_generate_next_value_`(start, count, last_values)	Generate the next value when not given.
`_missing_`(value)
`_new_member_`(value)	Create and return a new object.

CX = 0¶: Principal point x-coordinate.

CY = 1¶: Principal point y-coordinate.

FW_POLY_0 = 2¶: Forward polynomial coefficient 0.

FW_POLY_1 = 3¶: Forward polynomial coefficient 1.

FW_POLY_2 = 4¶: Forward polynomial coefficient 2.

FW_POLY_3 = 5¶: Forward polynomial coefficient 3.

FW_POLY_4 = 6¶: Forward polynomial coefficient 4.

BW_POLY_0 = 7¶: Backward polynomial coefficient 0.

BW_POLY_1 = 8¶: Backward polynomial coefficient 1.

BW_POLY_2 = 9¶: Backward polynomial coefficient 2.

BW_POLY_3 = 10¶: Backward polynomial coefficient 3.

BW_POLY_4 = 11¶: Backward polynomial coefficient 4.

FW_POLY = slice(<FThetaIntrinsicsIndex.FW_POLY_0: 2>, 7, None)¶

BW_POLY = slice(<FThetaIntrinsicsIndex.BW_POLY_0: 7>, 12, None)¶

__new__(value)¶

conjugate()¶: Returns self, the complex conjugate of any int.

bit_length()¶

Number of bits necessary to represent self in binary.

>>> bin(37)
'0b100101'
>>> (37).bit_length()
6

bit_count()¶

Number of ones in the binary representation of the absolute value of self.

Also known as the population count.

>>> bin(13)
'0b1101'
>>> (13).bit_count()
3

as_integer_ratio()¶

Return integer ratio.

Return a pair of integers, whose ratio is exactly equal to the original int and with a positive denominator.

>>> (10).as_integer_ratio()
(10, 1)
>>> (-10).as_integer_ratio()
(-10, 1)
>>> (0).as_integer_ratio()
(0, 1)

real¶: the real part of a complex number

imag¶: the imaginary part of a complex number

numerator¶: the numerator of a rational number in lowest terms

denominator¶: the denominator of a rational number in lowest terms

F-Theta Intrinsics¶

class py123d.datatypes.FThetaIntrinsics[source]¶

F-theta camera intrinsics with forward and backward polynomial distortion coefficients.

Public Data Attributes:

`array`	A numpy array representation of the f-theta intrinsics, indexed by `FThetaIntrinsicsIndex`.
`cx`	Principal point x-coordinate.
`cy`	Principal point y-coordinate.
`fw_poly`	Forward polynomial coefficients (5 values).
`bw_poly`	Backward polynomial coefficients (5 values).

Inherited from ArrayMixin

`array`	The array representation of the geometric entity.
`shape`	Return the shape of the array.

Public Methods:

from_array(array[, copy])

Creates a FThetaIntrinsics from a numpy array, indexed by FThetaIntrinsicsIndex.

Inherited from ArrayMixin

`from_array`(array[, copy])	Create an instance from a NumPy array.
`from_list`(values)	Create an instance from a list of values.
`tolist`()	Convert the array to a Python list.
`to_list`()	Convert the array to a Python list.
`copy`()	Return a copy of the object with a copied array.

classmethod from_array(array, copy=True)[source]¶

Creates a FThetaIntrinsics from a numpy array, indexed by FThetaIntrinsicsIndex.

Parameters:

array (ndarray[tuple[Any, ...], dtype[float64]]) – A 1D numpy array containing the intrinsic parameters.
copy (bool) – Whether to copy the array, defaults to True

Return type:

FThetaIntrinsics

Returns:

A FThetaIntrinsics instance.

property array: ndarray[tuple[Any, ...], dtype[float64]]¶: A numpy array representation of the f-theta intrinsics, indexed by FThetaIntrinsicsIndex.

property cx: float¶: Principal point x-coordinate.

property cy: float¶: Principal point y-coordinate.

property fw_poly: ndarray[tuple[Any, ...], dtype[float64]]¶: Forward polynomial coefficients (5 values).

property bw_poly: ndarray[tuple[Any, ...], dtype[float64]]¶: Backward polynomial coefficients (5 values).