s6.vision.stereo_spots¶
Stereo spot detection, matching, and reconstruction helpers.
- class s6.vision.stereo_spots.StereoSpotMatch(*, index_0: int, index_1: int, detection_0: Circle2D, detection_1: Circle2D, point_world: Vector3D, point_camera_0: Vector3D, epipolar_error_px: float, reprojection_error_0_px: float, reprojection_error_1_px: float, plane_distance_camera_0: float)
Bases:
BaseModelOne matched stereo spot observation and its 3D reconstruction.
- index_0: int
- index_1: int
- detection_0: Circle2D
- detection_1: Circle2D
- point_world: Vector3D
- point_camera_0: Vector3D
- epipolar_error_px: float
- reprojection_error_0_px: float
- reprojection_error_1_px: float
- plane_distance_camera_0: float
- class s6.vision.stereo_spots.StereoSpotResult(*, detections_0: list[Circle2D] = None, detections_1: list[Circle2D] = None, matches: list[StereoSpotMatch] = None, unmatched_indices_0: list[int] = None, unmatched_indices_1: list[int] = None, plane_point_camera_0: Vector3D | None = None, plane_normal_camera_0: Vector3D | None = None)
Bases:
BaseModelDetection and stereo reconstruction result for one image pair.
- detections_0: list[Circle2D]
- detections_1: list[Circle2D]
- matches: list[StereoSpotMatch]
- unmatched_indices_0: list[int]
- unmatched_indices_1: list[int]
- plane_point_camera_0: Vector3D | None
- plane_normal_camera_0: Vector3D | None
- s6.vision.stereo_spots.detect_spots(image: ndarray, *, max_spot_fraction: float = 0.02) list[Circle2D]
Detect small bright circular blobs in an image.
- s6.vision.stereo_spots.match_and_triangulate_spots(camera_0: Camera, camera_1: Camera, detections_0: list[Circle2D], detections_1: list[Circle2D], *, max_epipolar_error_px: float = 4.0, max_reprojection_error_px: float = 3.0, plane_weight: float = 0.2, max_iterations: int = 3) StereoSpotResult
Match stereo spots between two views and triangulate their 3D positions.
- s6.vision.stereo_spots.reconstruct_stereo_spots(camera_0: Camera, image_0: ndarray, camera_1: Camera, image_1: ndarray, *, max_spot_fraction: float = 0.02, max_epipolar_error_px: float = 4.0, max_reprojection_error_px: float = 3.0, plane_weight: float = 0.2, max_iterations: int = 3) StereoSpotResult
Detect, match, and triangulate stereo spots from a stereo image pair.