simulation.src.gazebo_simulation.src.car_model.camera_specs module

Summary

Classes:

CameraSpecs

Camera specifications usually defined in kitcar-ros.

Reference

class CameraSpecs(focal_length_x: float, focal_length_y: float, optical_center_x: float, optical_center_y: float, r11: float, r12: float, r13: float, r21: float, r22: float, r23: float, r31: float, r32: float, r33: float, t1: float, t2: float, t3: float, capture_size: Dict[str, float] = <factory>, capture_format: str = 'L8', clip: Dict[str, float] = <factory>, output_size: Dict[str, float] = <factory>, update_rate: float = 60, image_topic: str = '/simulation/sensors/raw/camera', info_topic: str = '/simulation/sensors/camera/info')

Bases: simulation.utils.basics.init_options.InitOptions

Camera specifications usually defined in kitcar-ros.

With this class, the real calibration is used to create the simulated camera model.

This way the camera specifications and calibration are very similar. The calibrations are still not exactly the same and therefore a separate calibration file is loaded!

There are, however, some nuances:

• Instead of considering the complete calibration matrix, only the pitch angle is used to rotate the camera model around the y axis in simulation.

• The real camera crops the image before publishing the image. This is reflected in the different capture_size and output_size.

focal_length_x: float

focal_length_y: float

optical_center_x: float

optical_center_y: float

r11: float

r12: float

r13: float

r21: float

r22: float

r23: float

r31: float

r32: float

r33: float

t1: float

t2: float

t3: float

capture_size: Dict[str, float]

capture_format: str = 'L8'

clip: Dict[str, float]

output_size: Dict[str, float]

update_rate: float = 60

image_topic: str = '/simulation/sensors/raw/camera'

info_topic: str = '/simulation/sensors/camera/info'

property R

Rotation matrix of the camera.

Type

np.matrix

property t

Translation vector from vehicle to camera.

In camera coordinates.

Type

np.ndarray

property M

Matrix M.

Transformation matrix from vehicle coordinates to camera coordinates.

Type

np.matrix

property A

Matrix A.

Transformation matrix from camera coordinates to pixels.

Type

np.matrix

property P

Matrix P.

Transformation matrix from vehicle coordinates to pixels.

Type

np.matrix

property t_vehicle

Translation vector to the camera in vehicle coordinates.

Type

np.ndarray

property xyz

Translation vector to the camera in vehicle coordinates.

Type

Vector

property rpy

Vector of roll, pitch, yaw angles of the camera’s pose.

Type

Vector

property horizontal_fov

simplify()

Create a simplified calibration from the real one.

save(file_path: str, simplify=True, remove_clip=True, remove_sizes=True)

Save to file.

Parameters

• file_path – Path to file.

• simplify – Simplify the car specs before saving.

• remove_clip – Don’t save clip.

• remove_sizes – Don’t save capture and output_size.