pyvale.calib.calibdataclass module

Dataclasses used to pass stereo calibration parameters through Pyvale.

class CamIntrinsics(fx, fy, fs, cx, cy, distortion)

Bases: object

Intrinsic camera parameters and distortion coefficients.

The parameters follow the usual pinhole camera model with optional skew and five OpenCV-style distortion coefficients. Focal lengths and the principal point are expressed in pixels.

fx

Focal length in x direction [pixels]

fy

Focal length in y direction [pixels]

fs

Skew coefficient [pixels]

cx

Principal point x-coordinate [pixels]

cy

Principal point y-coordinate [pixels]

distortion

Distortion coefficients [kappa1, kappa2, p1, p2, kappa3]

property camera_matrix

Return the 3x3 intrinsic camera matrix.

Returns:

np.ndarray – Matrix K with focal lengths, skew, and principal point arranged as [[fx, fs, cx], [0, fy, cy], [0, 0, 1]].

__init__(fx, fy, fs, cx, cy, distortion)

class Calib(cam0, cam1, translation, rotation)

Bases: object

Stereo camera calibration parameters.

Variables:

• cam1 (cam0,) – Intrinsic calibration for camera 0 and camera 1.

• translation (np.ndarray) – Translation vector from camera 0 to camera 1 in millimetres.

• rotation (np.ndarray) – Euler rotation angles from camera 0 to camera 1 in degrees, ordered as [theta, phi, psi].

__init__(cam0, cam1, translation, rotation)

cam0

Camera 0 intrinsic parameters

cam1

Camera 1 intrinsic parameters

translation

Translation vector [x, y, z] in mm

rotation

Euler angles [theta, phi, psi] in degrees

savetxt(calib, path, delimiter=',')

Save stereo calibration parameters to a two-column CSV file.

Parameters:

• calib (Calib) – Stereo calibration parameters to save.

• path (str or pathlib.Path) – Output CSV file path.

• delimiter (str, optional) – Delimiter to use between CSV fields. Defaults to a comma.

loadtxt(path, delimiter=',')

Load stereo calibration parameters from a two-column CSV file.

Parameters:

• path (str or pathlib.Path) – Input CSV file path.

• delimiter (str, optional) – Delimiter used between CSV fields. Defaults to a comma.

Returns:

Calib – Stereo calibration parameters read from disk.