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from abc import ABCMeta, abstractmethod |
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from mmcv.utils import Registry |
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CAMERAS = Registry('camera') |
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class SingleCameraBase(metaclass=ABCMeta): |
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"""Base class for single camera model. |
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Args: |
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param (dict): Camera parameters |
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Methods: |
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world_to_camera: Project points from world coordinates to camera |
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coordinates |
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camera_to_world: Project points from camera coordinates to world |
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coordinates |
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camera_to_pixel: Project points from camera coordinates to pixel |
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coordinates |
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world_to_pixel: Project points from world coordinates to pixel |
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coordinates |
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""" |
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@abstractmethod |
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def __init__(self, param): |
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"""Load camera parameters and check validity.""" |
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def world_to_camera(self, X): |
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"""Project points from world coordinates to camera coordinates.""" |
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raise NotImplementedError |
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def camera_to_world(self, X): |
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"""Project points from camera coordinates to world coordinates.""" |
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raise NotImplementedError |
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def camera_to_pixel(self, X): |
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"""Project points from camera coordinates to pixel coordinates.""" |
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raise NotImplementedError |
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def world_to_pixel(self, X): |
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"""Project points from world coordinates to pixel coordinates.""" |
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_X = self.world_to_camera(X) |
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return self.camera_to_pixel(_X) |
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