deltacamera#

Deltacamera: Camera calibration manipulation and image warping for computer vision.

This library provides coordinate transformations between world, camera, and image spaces with support for Brown-Conrady and Kannala-Brandt (fisheye) lens distortion models.

Example

>>> from deltacamera import Camera
>>> cam = Camera(intrinsic_matrix=[[500, 0, 320], [0, 500, 240], [0, 0, 1]])
>>> cam.world_to_image([[1, 2, 3]])

Submodules#

deltacamera.pt

Classes#

`Camera`	Pinhole camera with extrinsic and intrinsic calibration with optional distortions.
`BrownConradyEx`	Brown-Conrady distortion model.
`FisheyeKannalaBrandt`	Kannala-Brandt fisheye distortion model.
`LensDistortionModel`	Base class for lens distortion models.

Functions#

`intrinsics_from_fov`(fov_degrees, imshape[, side])	Create an intrinsic matrix from a field of view and image shape.
`transform_points`(points, old_camera, new_camera)	Transform 3D points from one camera's coordinate frame to another's.
`visible_subbox`(old_camera, new_camera, old_imshape, ...)	Compute the sub-box of new_box that would contain valid pixels when reprojecting.
`estimate_fov_from_vanishing_points`(vp1, vp2, imshape)	Estimate camera FOV from two orthogonal vanishing points.
`decode_srgb`(im[, dst])	Decodes an 8-bit sRGB image to linear 16-bit.
`encode_srgb`(im[, dst])	Encodes a linear 16-bit image to 8-bit sRGB.
`reproject_box`(old_box, old_camera, new_camera)	Reprojects a bounding box from one camera to another.
`reproject_box_corners`(old_box, old_camera, new_camera)	Reprojects a bounding box from one camera to another using its corners.
`reproject_box_inscribed_ellipse`(old_box, old_camera, ...)	Reprojects a bounding box from one camera to another using its inscribed ellipse.
`reproject_box_side_midpoints`(old_box, old_camera, ...)	Reprojects a bounding box from one camera to another using its side midpoints.
`reproject_depth_map`(depth_map, old_camera, new_camera)	Reproject a depth map from old_camera to new_camera.
`reproject_image`(image, old_camera, new_camera[, ...])	Transform an image captured with old_camera to look like it was captured by
`reproject_image_fast`(image, old_camera, new_camera[, ...])	Like reproject_image, but assumes there are no lens distortions.
`reproject_rgbd`(image, depth_map, old_camera, new_camera)	Reproject an RGB image and depth map together, sharing intermediate computation.
`reproject_image_points`(points, old_camera, new_camera)	Reproject 2D image points from old_camera to new_camera.
`reproject_mask`(mask, old_camera, new_camera, dst_shape)	Reproject a binary mask from one camera view to another.
`reproject_rle_mask`(rle_mask, old_camera, new_camera, ...)	Reproject an RLE-encoded mask from one camera view to another.
`get_valid_mask`(camera[, imshape])	Get the valid region mask for a camera with lens distortion.
`get_valid_mask_reproj`(old_camera, new_camera[, ...])	Get the valid region mask when reprojecting between two cameras.