CameraData

class standard_e2e.data_structures.CameraData(**data)

Bases: BaseModel

Camera sample containing image + calibration matrices.

Validation rules: - intrinsics (K): shape (3,3) float32 - extrinsics (T): shape (4,4) float32 - distortion (D): optional, 1D float32

• Accepts 3 -> expands to [k1,k2,0,0,k3] (Brown-Conrady)

• Accepts 5 -> [k1,k2,p1,p2,k3] (Brown-Conrady)

• Accepts 4 -> [k1,k2,k3,k4] (fisheye, kept as-is)

• image: HxWxC uint8 (ndim==3)

Parameters:

• camera_direction (CameraDirection)

• image (ndarray[tuple[Any, ...], dtype[uint8]])

• intrinsics (ndarray[tuple[Any, ...], dtype[float32]])

• extrinsics (ndarray[tuple[Any, ...], dtype[float32]])

• distortion (ndarray[tuple[Any, ...], dtype[float32]] | None)

• size (tuple[int, int] | None)

• is_fisheye (bool)

property D: ndarray | None

property H: int

property K: ndarray

property T: ndarray

property W: int

camera_direction: CameraDirection

distortion: ndarray[tuple[Any, ...], dtype[float32]] | None

extrinsics: ndarray[tuple[Any, ...], dtype[float32]]

property height: int

image: ndarray[tuple[Any, ...], dtype[uint8]]

intrinsics: ndarray[tuple[Any, ...], dtype[float32]]

is_fisheye: bool

property shape: tuple[int, int, int]

size: tuple[int, int] | None

property width: int