CameraInfo

Represents camera calibration information including intrinsics, distortion parameters, and projection matrix.

Properties:

Property	Type	Description
header	Header	Camera information metadata header
width	int	Image width
height	int	Image height
k	np.ndarray	3x3 camera intrinsic matrix
d	np.ndarray	Distortion parameters
r	np.ndarray	3x3 rectification rotation matrix, defaults to identity
p	np.ndarray	3x4 projection matrix, defaults to zero matrix
distortion_model	str	Distortion model, defaults to "plumb_bob"
binning_x	int	Horizontal pixel binning parameter
binning_y	int	Vertical pixel binning parameter
roi	RegionOfInterest	Region of interest, see "Perception and State Data / RegionOfInterest"

Read-only properties:

Property	Type	Description
timestamp	float	Second-level timestamp, equivalent to header.timestamp
frame_id	str	Coordinate frame ID, equivalent to header.frame_id

CameraInfo

Signature:

CameraInfo(
    header: Header,
    width: int,
    height: int,
    k: np.ndarray,
    d: np.ndarray,
    r: np.ndarray = np.eye(3),
    p: np.ndarray = np.zeros((3, 4)),
    distortion_model: str = "plumb_bob",
    binning_x: int = 0,
    binning_y: int = 0,
    roi: RegionOfInterest = RegionOfInterest(),
)

Description:

Construct a CameraInfo instance. This type is an immutable dataclass.

Parameters:

Parameter	Type	Required	Description
header	Header	Yes	Camera information metadata header
width	int	Yes	Image width
height	int	Yes	Image height
k	np.ndarray	Yes	3x3 intrinsic matrix [fx 0 cx; 0 fy cy; 0 0 1]
d	np.ndarray	Yes	Distortion parameters [k1, k2, t1, t2, k3, ...]
r	np.ndarray	No	3x3 rectification rotation matrix, defaults to identity
p	np.ndarray	No	3x4 projection matrix, defaults to zero matrix
distortion_model	str	No	Distortion model, defaults to "plumb_bob"
binning_x	int	No	Horizontal pixel binning parameter
binning_y	int	No	Vertical pixel binning parameter
roi	RegionOfInterest	No	Region of interest

Returns:

CameraInfo instance.

Raises:

None.

to_dict

Signature:

CameraInfo.to_dict() -> dict[str, Any]

Description:

Convert to a JSON/YAML serializable dictionary; matrix fields k / d / r / p are converted to lists via tolist().

Parameters:

No parameters.

Returns:

dict[str, Any].

Raises:

None.