camera_params.py

import enum
import math


class DepthSource(enum.IntEnum):
    STEREO = 0
    PNP = 1


camera_params = {
    'Generic Webcam': {
        'frame_rate': 30,
        'exposure': {'red': 45.0, 'blue': 20.0},
        'capture_res': (1280, 720),
        'depth_source': DepthSource.PNP,
        'fov': (90,65)
    },
    'Intel RealSense D435I': {
        'frame_rate': 30,
        'exposure': {'red': 15.0, 'blue': 35.0},
        'fov': (69, 42),
        'capture_res': (960, 540),
        'depth_source': DepthSource.STEREO
    },
    'Intel RealSense D455': {
        'frame_rate': 30,
        'exposure': {'red': 45.0, 'blue': 20.0},
        'capture_res': (1280, 720),
        'depth_source': DepthSource.STEREO,
        'fov': (90, 65),
        'cx': 643.077674664939,
        'cy': 357.730289611374,
        'fx': 645.455984328821,
        'fy': 644.606305889468,
        'k1': -0.0557535647706463,
        'k2': 0.0538700601952326,
        'p1': -0.000454149012521474,
        'p2': 0.00119677524381670,
        'k3': 0.0
    },

    'HIK MV-CS016-10UC(B)-ipad': {
        # all of HIK camera's params (and units) are adjustable in the MVS platform
        'frame_rate': 249,
        'exposure': {'red': 4000.0, 'blue': 5000.0},
        'capture_res': (1280, 720),
        'depth_source': DepthSource.PNP,
        'fov': (48.33, 30),
        'cx': 687.434,
        'cy': 571.391,
        'fx': 2414.2,
        'fy': 2414.3,
        'k1': -0.0307,
        'k2': 0.1194,
        'p1': 0.0,
        'p2': 0.0,
        'k3': 0.0
    },
    'HIK MV-CS016-10UC(A)_1': {
        # all of HIK camera's params (and units) are adjustable in the MVS platform
        'frame_rate': 249,
        'exposure': {'red': 4000.0, 'blue': 5000.0},
        'capture_res': (1280, 720),
        'depth_source': DepthSource.PNP,
        'fov': (48.33, 30),
        'cx': 752.736,
        'cy': 580.63,
        'fx': 2360.1,
        'fy': 2360.9,
        'k1': -0.0262,
        'k2': 0.1237,
        'p1': 0.0,
        'p2': 0.0,
        'k3': 0.0
    },
    'HIK MV-CS016-10UC(A)_ipad': {
        # all of HIK camera's params (and units) are adjustable in the MVS platform
        'frame_rate': 249,
        'exposure': {'red': 4000.0, 'blue': 5000.0},
        'capture_res': (1280, 720),
        'depth_source': DepthSource.PNP,
        'fov': (48.33, 30),
        'cx': 752.678,
        'cy': 566.916,
        'fx': 2428.8,
        'fy': 2428.2,
        'k1': 0.0007347,
        'k2': 0.0733,
        'p1': 0.0,
        'p2': 0.0,
        'k3': 0.0
    },
    'HIK MV-CS016-10UC General': {
        # all of HIK camera's params (and units) are adjustable in the MVS platform
        'frame_rate': 249,
        'exposure': {'red': 4000.0, 'blue': 5000.0},
        'capture_res': (1440, 1080),
        'depth_source': DepthSource.PNP,
        'fov': (48.33, 30),
        'cx': 640,
        'cy': 360,
        'fx': 3028.8,
        'fy': 3028.2,
        'k1': 0.0007347,
        'k2': 0.0733,
        'p1': 0.0,
        'p2': 0.0,
        'k3': 0.0
    }
}

for cam_name, param_dict in camera_params.items():
    if 'cx' not in param_dict:
        # Use naive camera matrix parameters
        param_dict.update({
            'cx': param_dict['capture_res'][0] / 2,
            'cy': param_dict['capture_res'][1] / 2,
            'fx': (param_dict['capture_res'][0] / 2) / math.tan((param_dict['fov'][0] / 2) * math.pi / 180.0),
            'fy': (param_dict['capture_res'][1] / 2) / math.tan((param_dict['fov'][1] / 2) * math.pi / 180.0),
            'k1': 0.0,
            'k2': 0.0,
            'p1': 0.0,
            'p2': 0.0,
            'k3': 0.0
        })
    param_dict['camera_matrix'] = [[param_dict['fx'], 0, param_dict['cx']],
                                            [0, param_dict['fy'], param_dict['cy']],
                                            [0, 0, 1]]

    param_dict['distort_coeffs'] = [param_dict['k1'], param_dict['k2'],
                                             param_dict['p1'], param_dict['p2'],
                                             param_dict['k3']]

    if 'camera_offset' not in param_dict:
        param_dict['camera_offset'] = [0.0, 0.0, 0.0]