cameratools.py

NOTE: This module is a feature under developement.

class CameraTools

Bases: object

static pixel_vec_px(pixels_count)

static pixel_grid_px(pixels_count)

static vectorise_pixel_grid_px(pixels_count)

static subpixel_vec_px(pixels_count, subsample=2)

static subpixel_grid_px(pixels_count, subsample=2)

static vectorise_subpixel_grid_px(pixels_count, subsample=2)

static pixel_vec_leng(field_of_view, leng_per_px)

static pixel_grid_leng(field_of_view, leng_per_px)

static vectorise_pixel_grid_leng(field_of_view, leng_per_px)

static subpixel_vec_leng(field_of_view, leng_per_px, subsample=2)

static subpixel_grid_leng(field_of_view, leng_per_px, subsample=2)

static vectorise_subpixel_grid_leng(field_of_view, leng_per_px, subsample=2)

static calc_resolution_from_sim_2d(pixels_count, coords, pixels_border, view_plane_axes=(0, 1))

static calc_roi_cent_from_sim_2d(coords)

static crop_image_rectangle(image, pixels_count, corner=(0, 0))

static average_subpixel_image(subpx_image, subsample)

static build_sensor_data_from_camera_2d(cam_data)

static fov_from_cam_rot_3d(cam_rot, coords_world)

static image_dist_from_fov_3d(pixel_num, pixel_size, focal_leng, fov_leng)

static pos_fill_frame(coords_world, pixel_num, pixel_size, focal_leng, cam_rot, frame_fill=1.0)

static pos_fill_frame_all(coords_world_list, pixel_num, pixel_size, focal_leng, cam_rot, frame_fill=1.0)

static calculate_FOV(cam_data)

A method to calulate the camera’s field of view in mm

Parameters:

cam_data (CameraData) – A dataclass containing the camera parameters

Returns:

tuple[float, float] – A tuple containing the field of view in mm in both x and y directions

static blender_FOV(cam_data)

A method to calculate the camera’s field of view in mm using Blender’s method. This method differs due to one simplification.

Parameters:

cam_data (CameraData) – A dataclass containing the camera parameters

Returns:

tuple[float, float] – A tuple containing the FOV in x and y directions

static calculate_mm_px_resolution(cam_data)

Function to calculate the mm/px resolution of a camera

Parameters:

cam_data (CameraData) – A dataclass containing the camera parameters

Returns:

float – The mm/px resolution

static focal_length_from_resolution(pixels_size, working_dist, resolution)

A method to calculate the required focal length to achieve a certain resolution. This is calculated given the pixel size and working distance. This method can be used for a 2D setup or for camera 0 for a stereo setup.

Parameters:

• pixels_size (np.ndarray) – The camera pixel size in the x and y directions (in mm).

• working_dist (float) – The working distance of the camera to the sample.

• resolution (float) – The desired resolution in mm/px.

Returns:

float – The focal length required to obtain the desired image resolution.

static blender_camera_from_resolution(pixels_num, pixels_size, working_dist, resolution)

A convenience function to create a camera object in Blender from its pixels, the pixel size, the working distance and desired resolution.

Parameters:

• pixels_num (np.ndarray) – The number of pixels in the camera, in the x and y directions.

• pixels_size (np.ndarray) – The camera pixels size in mm, in the x and y directions.

• working_dist (float) – The working distance of the camera.

• resolution (float) – The desired mm/px resolution

Returns:

CameraData – A dataclass containing the created camera’s parameters.

static symmetric_stereo_cameras(cam_data_0, stereo_angle)

A convenience function to set up a symmetric stereo camera system, given an initial CameraData dataclass and a stereo angle. This assumes the basic camera parameters are the same.

Parameters:

• cam_data_0 (CameraData) – A dataclass containing the camera parameters for a single camera, which will be camera 0.

• stereo_angle (float) – The stereo angle between the two cameras.

Returns:

CameraStereo – An instance of the CameraStereo class. This class contains information about each of the cameras, as well as the extrinsic parameters between them.

static faceon_stereo_cameras(cam_data_0, stereo_angle)

A convenience function to set up a face-on stereo camera system, given an initial CameraData dataclass and a stereo angle. This assumes the basic camera parameters are the same.

Parameters:

• cam_data_0 (CameraData) – A dataclass containing the camera parameters for a single camera, which will be camera 0.

• stereo_angle (float) – The stereo angle between the two cameras.

Returns:

CameraStereo – An instance of the CameraStereo class. This class contains information about each of the cameras, as well as the extrinsic parameters between them.