CameraInfo

Image size, camera matrix k, distortion d, rectification r, projection p.

Full docstring

`k`, `r` and `p` are stored as matrices (ROS flattens them to 9, 9 and 12 numbers;
converters flatten). Pixel coordinates are (u = column, v = row), x right, y down, z forward.
`p` defaults to `[k | 0]` when left out.

Import

from robot_msgs.sensor import CameraInfo

ROS 2sensor_msgs/msg/CameraInfo

Preview

The figure robot_msgs.viz.plot(example) draws for the example below.

Fields

Name	Type	Default
`width`	`int`	`required`
`height`	`int`	`required`
`k`	`Array`	`required`
`d`	`Array`	`array([], dtype=float64)`
`distortion_model`	`str`	`'plumb_bob'`
`r`	`Array`	`array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])`
`p`	`Array \| None`	`None`
`header`	`Header`	`Header()`

Example

One instance from the package's own test catalog; the output is its real repr().

CameraInfo(width=640, height=480, k=float64[3×3], d=[], distortion_model='plumb_bob', r=float64[3×3], p=float64[3×4], header=Header(stamp=1761600000.25, frame_id='camera_color_optical_frame'))

to_dict() as JSON

{
  "_type": "sensor/CameraInfo",
  "width": 640,
  "height": 480,
  "k": {
    "dtype": "<f8",
    "shape": [3, 3],
    "data": [615.0, 0.0, 320.0, 0.0, 615.0, 240.0, 0.0, 0.0, 1.0]
  },
  "d": {
    "dtype": "<f8",
    "shape": [0],
    "data": []
  },
  "distortion_model": "plumb_bob",
  "r": {
    "dtype": "<f8",
    "shape": [3, 3],
    "data": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
  },
  "p": {
    "dtype": "<f8",
    "shape": [3, 4],
    "data": [615.0, 0.0, 320.0, 0.0, 0.0, 615.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
  },
  "header": {
    "_type": "std/Header",
    "stamp": 1761600000.25,
    "frame_id": "camera_color_optical_frame",
    "meta": {}
  }
}

Long arrays are cut after 16 values and say so with “…”.

Functions

Constructors

Classmethods and staticmethods: ways to build one.

`from_intrinsics`

from_intrinsics(
    fx: float,
    fy: float,
    cx: float,
    cy: float,
    width: int,
    height: int,
    d: Array | None = None,
    header: Header | None = None,
) -> CameraInfo

No docstring.

`from_dict`

from Msg

from_dict(data: Mapping[str, Any]) -> M

No docstring.

Properties

Read-only views computed from the fields.

`cx`

cx: float

No docstring.

`cy`

cy: float

No docstring.

`fx`

fx: float

No docstring.

`fy`

fy: float

No docstring.

Methods

Return new values; messages are never mutated.

`project`

project(points: Array) -> Array

(N, 3) points in the camera optical frame → (N, 2) pixels (u, v).

`scaled`

scaled(factor: float) -> CameraInfo

Intrinsics for the same image resized by factor (sizes round to whole pixels).

`unproject`

unproject(pixels: Array, depth: Array) -> Array

(N, 2) pixels (u, v) with (N,) depth z along the optical axis → (N, 3) points.

`replace`

from Msg

replace(**changes: Any) -> M

A copy with some fields changed. Validation runs again.

`to_dict`

from Msg

to_dict() -> dict[str, Any]

JSON-safe dict with a "_type" key; arrays keep their dtype and shape.

Uses

Types its fields refer to.

Header