camerastereo.py

NOTE: This module is a feature under developement.

class CameraStereo(cam_data_0, cam_data_1)

Bases: object

__init__(cam_data_0, cam_data_1)

cam_data_0

cam_data_1

stereo_rotation

stereo_dist

classmethod from_calibration(calib_path, pos_world_0, rot_world_0, focal_length)

A method to initialise the CameraStereo using a calibration file and some additional parameters. This creates an instance of the CameraStereo class from the calibration parameters.

Parameters:

• calib_path (Path) – The path to the calibration file (in yaml format).

• pos_world_0 (np.ndarray) – The position of camera 0 in world coordinates.

• rot_world_0 (Rotation) – The rotation of camera 0 in world coordinates.

• focal_length (float) – The focal length of camera 0.

Returns:

Self – An instance of the CameraStereo class, given the specified parameters.

save_calibration(base_dir)

A method to save a calibration file of the stereo system as a yaml. This is so that the file can easily be read into python, but is also user-readable.

Parameters:

base_dir (Path) – The base directory to which all files should be saved. The calibration file will be saved in a sub-directory named “calibration” within this directory.

Raises:

BlenderError – “The specified save directory does not exist”

save_calibration_mid(base_dir)

A method to save a calibration file of the stereo system in a MatchID accepted format.

Parameters:

base_dir (Path) – The base directory to which all files should be saved. The calibration file will be saved in a sub-directory named “calibration” within this directory.

Raises:

BlenderError – “The specified save directory does not exist”