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# -*- coding: UTF-8 -*-
'''=================================================
@Project -> File localizer -> camera_intrinsics
@IDE PyCharm
@Author fx221@cam.ac.uk
@Date 15/08/2023 12:33
=================================================='''
import numpy as np
def intrinsics_from_camera(camera_model, params):
if camera_model in ("SIMPLE_PINHOLE", "SIMPLE_RADIAL", "RADIAL"):
fx = fy = params[0]
cx = params[1]
cy = params[2]
elif camera_model in ("PINHOLE", "OPENCV", "OPENCV_FISHEYE", "FULL_OPENCV"):
fx = params[0]
fy = params[1]
cx = params[2]
cy = params[3]
else:
raise Exception("Camera model not supported")
# intrinsics
K = np.identity(3)
K[0, 0] = fx
K[1, 1] = fy
K[0, 2] = cx
K[1, 2] = cy
return K
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