Python camera calibration and projective geometry library
This library offers several tools for manipulation of calibrated cameras, projective geometry and computations using homogenous coordinates.
Camera calibration allows to determine the relation between the camera's pixels (2D coordinates) and points in the real world
(3D coordinates). It implies computation using homogenous coordinates. This python library aims at simplifying implementations
of projective geometry computations, building on top of numpy and cv2.
Installation
Installation using the package manager pip
pip install calib3d
Usage
Full API documentation is available in here.
2D and 3D points implementation
The Point2D (and Point3D) class represent 2D (and 3D) points extending numpy.ndarray. Access to y coordinate of point is point.y, and access to homogenous coordinates is made easy with point.H, while it is still possible to use point with any numpy operators.
>>> Point2D(1,2) == Point2D(2,4,2)
True
>>> points = Point2D(np.array([[0, 0, 1, 2, 3], # x coordinates
[1, 2, 3, 4, 5]])) # y coordinates
>>> points.x
array([0., 0., 1., 2., 3.])
>>> points.H
array([[0., 0., 1., 2., 3.],
[1., 2., 3., 4., 5.],
[1., 1., 1., 1., 1.]])
Camera calibration
The Calib class represents a calibrated camera. It has a serie of methods to handle 3D to 2D projections, 2D to 3D liftings, image transformations, and more.
>>> import numpy as np
>>> from calib3d import Calib, Point3D, compute_rotation_matrix
>>> f = 0.035 # lens focal length [m] 35 mm lens
>>> w, h = np.array([4000, 3000]) # sensor size [px.px] 12 Mpx sensor
>>> d = w/0.01 # pixel density [px.m⁻¹] with a 1 cm sensor width
>>> K = np.array([[ d*f, 0 , w/2 ], # Camera matrix (intrinsic parameters)
... [ 0 , d*f, h/2 ],
... [ 0 , 0 , 1 ]])
>>> C = Point3D(10,10,10) # Camera position in the 3D space
>>> R = compute_rotation_matrix(Point3D(0,0,0), C) # Camera pointing towards origin
>>> calib = Calib(K=K, T=-R@C, R=R, width=w, height=h)
>>> calib.project_3D_to_2D(Point3D(0,0,0))
Point2D([[2000.],
[1500.]])
Cropping or scaling a calib is made easy with the following operations (for more operations, check the documentation)
>>> new_calib = calib.crop(x_slice=slice(10, 110, None), y_slice=slice(500, 600, None))
>>> new_calib = calib.scale(output_width=2000, output_height=1500)
Other useful methods
>>> calib.projects_in(Point3D(0, 20, 20))
False
>>> calib.compute_length2D(Point3D(0, 0, 0), .42) # Number of pixels that represent a length of .42 in the 3D space
array([339.48195828])
Contributing
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Authors
This library is developed and maintained by Gabriel Van Zandycke. If you use this repository, please consider citing my work.
Release files for calib3d 2.13.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| calib3d-2.13.0.tar.gz | 32.7 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| calib3d-2.13.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 66.5 kB
Release files / calib3d-2.13.0.tar.gz
| Download URL | calib3d-2.13.0.tar.gz |
|---|---|
| Size | 32.7 kB |
| Tags | Source |
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