[deprecation]: this package has been moved on into alfred-py: http://github.com/jinfagang/alfred , pls head of there for more easy to use and installzatoin this libarary contains some helper functions that using in robot or autonomous driving, such as:
- coordinary convert between camera and lidar;
- world coordinate system convertion between camera and image space;
- projection of 3D point onto image;
- 3d box and 2d box convertion;
- extract particular angle point cloud with camera angle of view.
data structure:
Basic data structure that using for provide extrinsic params and intrinsic params.
class FrameCalibrationData(object):
"""
3x4 p0-p3 Camera P matrix. Contains extrinsic
and intrinsic parameters.
3x3 r0_rect Rectification matrix, required to transform points
from velodyne to camera coordinate frame.
3x4 tr_velodyne_to_cam Used to transform from velodyne to cam
coordinate frame according to:
Point_Camera = P_cam * R0_rect *
Tr_velo_to_cam *
Point_Velodyne.
"""
def __init__(self):
self.p0 = []
self.p1 = []
self.p2 = []
self.p3 = []
self.r0_rect = []
self.tr_velodyne_to_cam = []
The basic FrameCalibrationData like this, it contains camera P matrix which have extrinsic and intrinsic params. Another transform points from lidar to camera coordinate system.
lidar_to_cam_frame: convert fusion to camera frame.get_lidar_point_cloud: get a particular angle point cloud.- more to come
This library written by Lucas Jin, if you have any question, you can find me via my blog: www.jinfagang.github.io . License is GPL.