camera.utils.transformations Namespace Reference

Functions
def	pixelToWorkspace (np.ndarray coordinates, np.ndarray depthMap, np.ndarray gWC, np.ndarray camMTX)
	calculates the workspace coordinates given pixel coordinates and a depth map More...
def	workspaceToPixel (np.ndarray coordinates, gCW=None, camMTX=None)
	calculates the pixel coordinates given the world coordinates More...

Detailed Description

@brief: useful transformations

@author: Kyle de Nobel

@note: Comments above file are for Doxygen support and are the same as the docstrings

Function Documentation

pixelToWorkspace()

def camera.utils.transformations.pixelToWorkspace	(	np.ndarray	coordinates,
		np.ndarray	depthMap,
		np.ndarray	gWC,
		np.ndarray	camMTX
	)

calculates the workspace coordinates given pixel coordinates and a depth map

Parameters

[in]	coordinates	an ndarray of the u,v coordinates of a pixel in an image
[in]	gWC	an ndarray (4, 4) of the transformation from camera to workspace
[in]	camMTX	an ndarray (3,3) of the camera's intrinsic parameters
[in]	depthMap	a 2D ndarray of the depth map of your image. This must be the same size as your color image

Returns

out an ndarray (3,1) of the X,Y,Z coordinates in the workspace frame

calculates the workspace coordinates given pixel coordinates and a depth map
Args:
    coordinates (ndarray (2,1)) : the u,v coordinates of a pixel in your image
    depthMap (ndarray (N,M)) : the depth map of your N by M image
    gWC (ndarray (4,4)) : an ndarray (4, 4) of the transformation from camera to workspace
    camMTX (ndarray (3,3)) : an ndarray (3,3) of the camera's intrinsic parameters
Returns:
    an ndarray (3,1) of the X,Y,Z coordinates in the workspace frame

workspaceToPixel()

def camera.utils.transformations.workspaceToPixel	(	np.ndarray	coordinates,
			gCW = None,
			camMTX = None
	)

calculates the pixel coordinates given the world coordinates

Parameters

[in]	coordinates	an ndarray (3,1) of the X,Y,Z coordinates of an object in the workspace frame
[in]	gCW	an ndarray (4, 4) of the transformation from workspace to camera
[in]	camMTX	an ndarray (3,3) of the camera's intrinsic parameters

Returns

out an ndarray (2,1) of the pixel coordinates -> np.array([[u],[v]])

calculates the pixel coordinates given the world coordinates.
Args:
    coordinates (ndarray (3,1)) : the X,Y,Z coordinates of an object in the workspace frame
    gCW (ndarray (4,4)) : an ndarray (4, 4) of the transformation from workspace to camera
    camMTX (ndarray (3,3)) : an ndarray (3,3) of the camera's intrinsic parameters
Returns:
    an ndarray (2,1) of the pixel coordinates -> np.array([[u],[v]])