pycvcam.NoIntrinsic#

class NoIntrinsic(parameters=None, constants=None)[source]#

Bases: Intrinsic

Subclass of the pycvcam.core.Intrinsic class that represents a no intrinsic model.

Note

This class represents the intrinsic transformation, which is the last step of the process from the world_points to the image_points.

The NoIntrinsic model is a special case of the intrinsic transformation where no intrinsic transformations are applied.

Lets consider distorted_points in the camera normalized coordinate system \(\vec{x}_d = (x_d, y_d)\), the corresponding image_points in the image coordinate system are given by \(\vec{x}_i = (x_d, y_d)\). Simply applying an identity transformation, which means that the image points are equal to the distorted points.

Parameters:

  • parameters (None)

  • constants (None)

_abc_impl = <_abc._abc_data object>#
_constants#
_inverse_transform(image_points, *, dx=False, dp=False)[source]#

Compute the inverse transformation from the image_points to the distorted_points.

Lets consider image_points in the image coordinate system \(\vec{x}_i = (x_i, y_i)\), the corresponding distorted_points in the camera normalized coordinate system are given by \(\vec{x}_d = (x_i, y_i)\). Simply applying an identity transformation, which means that the image points are equal to the distorted points.

The jacobians with respect to the intrinsic parameters is an empty array with shape (n_points, 2, 0), as there are no parameters to compute the jacobian for. The jacobian with respect to the image points is set to the identity matrix, as the distorted points are equal to the image points.

Warning

This method is not intended to be used directly, but rather through the pycvcam.core.Transform.transform() method. Please ensure, the shape of the input image_points is (n_points, 2) before calling this method.

Parameters:

  • image_points (numpy.ndarray) – The image points in image coordinates to be transformed. Shape (n_points, 2).

  • dx (bool, optional) – If True, the jacobian with respect to the image points is computed. Default is False

  • dp (bool, optional) – If True, the jacobian with respect to the intrinsic parameters is computed. Default is False

Returns:

  • distorted_points (numpy.ndarray) – The distorted points in camera normalized coordinates, which are equal to the x and y components of the image points. Shape (n_points, 2).

  • jacobian_dx (Optional[numpy.ndarray]) – The jacobian of the distorted points with respect to the image points. Shape (n_points, 2, 2) if dx is True, otherwise None.

  • jacobian_dp (Optional[numpy.ndarray]) – The jacobian of the distorted points with respect to the intrinsic parameters. Shape (n_points, 2, 0) if dp is True, otherwise None.

Return type:

Tuple[ndarray, ndarray | None, ndarray | None]

_parameters#
_transform(distorted_points, *, dx=False, dp=False)[source]#

Compute the transformation from the distorted_points to the image_points.

Lets consider distorted_points in the camera normalized coordinate system \(\vec{x}_d = (x_d, y_d)\), the corresponding image_points in the image coordinate system are given by \(\vec{x}_i = (x_d, y_d)\). Simply applying an identity transformation, which means that the image points are equal to the distorted points.

The jacobians with respect to the intrinsic parameters is an empty array with shape (n_points, 2, 0), as there are no parameters to compute the jacobian for. The jacobian with respect to the distorted points is set to the identity matrix, as the distorted points are equal to the image points.

Warning

This method is not intended to be used directly, but rather through the pycvcam.core.Transform.transform() method. Please ensure, the shape of the input distorted_points is (n_points, 2) before calling this method.

Parameters:

  • distorted_points (numpy.ndarray) – The distorted points in camera normalized coordinates to be transformed. Shape (n_points, 2).

  • dx (bool, optional) – If True, the jacobian with respect to the distorted points is computed. Default is False

  • dp (bool, optional) – If True, the jacobian with respect to the intrinsic parameters is computed. Default is False

Returns:

  • image_points (numpy.ndarray) – The image points in image coordinates, which are equal to the x and y componants of the distorted points. Shape (n_points, 2).

  • jacobian_dx (Optional[numpy.ndarray]) – The jacobian of the image points with respect to the distorted points. Shape (n_points, 2, 2) if dx is True, otherwise None.

  • jacobian_dp (Optional[numpy.ndarray]) – The jacobian of the image points with respect to the intrinsic parameters. Shape (n_points, 2, 0) if dp is True, otherwise None.

Return type:

Tuple[ndarray, ndarray | None, ndarray | None]

property constants: None#

Always returns None, as there are no constants for the no intrinsic model.

is_set()[source]#

Always returns True, as the no intrinsic model is always set and does not require any parameters or constants.

Return type:

bool

property parameters: None#

Always returns None, as there are no parameters for the no intrinsic model.