machinevision-toolbox-python 1.0.0__py3-none-any.whl → 1.0.2__py3-none-any.whl

{machinevision_toolbox_python-1.0.0.dist-info → machinevision_toolbox_python-1.0.2.dist-info}/METADATA

@@ -1,48 +1,51 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: machinevision-toolbox-python
-Version: 1.0.0
+Version: 1.0.2
 Summary: Python tools for machine vision - education and research
-Author: Dorian Tsai
-Author-email: Peter Corke <rvc@petercorke.com>
 Project-URL: Homepage, https://github.com/petercorke/machinevision-toolbox-python
 Project-URL: Bug Tracker, https://github.com/pypa/sampleproject/issues
 Project-URL: Documentation, https://petercorke.github.io/machinevision-toolbox-python
 Project-URL: GitHub Source, https://github.com/petercorke/machinevision-toolbox-python
 Project-URL: Changelog, https://github.com/petercorke/machinevision-toolbox-python/blob/master/CHANGELOG.md
-Keywords: machine vision,computer vision,multiview geometry,stereo vision,bundle adjustment,visual servoing,image features,color,blobs,morphology,image segmentation,opencv,open3d
+Author: Dorian Tsai
+Author-email: Peter Corke <rvc@petercorke.com>
+License-File: LICENSE
+Keywords: blobs,bundle adjustment,color,computer vision,image features,image segmentation,machine vision,morphology,multiview geometry,open3d,opencv,stereo vision,visual servoing
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
-Classifier: Programming Language :: Python :: 3.9
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
-Requires-Python: >=3.7
-Description-Content-Type: text/markdown
-License-File: LICENSE
-Requires-Dist: numpy<2.0.0,>=1.17.4
-Requires-Dist: scipy
+Requires-Python: >=3.10
+Requires-Dist: ansitable
 Requires-Dist: matplotlib
-Requires-Dist: opencv-python
-Requires-Dist: open3d
+Requires-Dist: mvtb-data
+Requires-Dist: numpy
 Requires-Dist: opencv-contrib-python
-Requires-Dist: spatialmath-python
+Requires-Dist: opencv-python
 Requires-Dist: pgraph-python
-Requires-Dist: ansitable
-Requires-Dist: mvtb-data
+Requires-Dist: scipy
+Requires-Dist: spatialmath-python
 Provides-Extra: dev
-Requires-Dist: pytest; extra == "dev"
-Requires-Dist: coverage; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
+Requires-Dist: coverage; extra == 'dev'
+Requires-Dist: flake8; extra == 'dev'
+Requires-Dist: pytest; extra == 'dev'
 Provides-Extra: docs
-Requires-Dist: sphinx; extra == "docs"
-Requires-Dist: recommonmark; extra == "docs"
-Requires-Dist: sphinx-rtd-theme; extra == "docs"
-Requires-Dist: sphinx-autorun; extra == "docs"
-Requires-Dist: sphinxcontrib-jsmath; extra == "docs"
-Requires-Dist: sphinx-markdown-tables; extra == "docs"
-Requires-Dist: sphinx-favicon; extra == "docs"
+Requires-Dist: recommonmark; extra == 'docs'
+Requires-Dist: sphinx; extra == 'docs'
+Requires-Dist: sphinx-autorun; extra == 'docs'
+Requires-Dist: sphinx-favicon; extra == 'docs'
+Requires-Dist: sphinx-markdown-tables; extra == 'docs'
+Requires-Dist: sphinx-rtd-theme; extra == 'docs'
+Requires-Dist: sphinxcontrib-jsmath; extra == 'docs'
+Provides-Extra: jupyter
+Requires-Dist: ipympl; extra == 'jupyter'
+Requires-Dist: ipywidgets; extra == 'jupyter'
+Provides-Extra: open3d
+Requires-Dist: open3d-python; extra == 'open3d'
+Description-Content-Type: text/markdown
 
 # Machine Vision Toolbox for Python
 
@@ -70,9 +73,8 @@ Requires-Dist: sphinx-favicon; extra == "docs"
 
 <li><a href="https://github.com/petercorke/machinevision-toolbox-python">GitHub repository </a></li>
 <li><a href="https://petercorke.github.io/machinevision-toolbox-python/">Documentation</a></li>
-<li><a href="https://github.com/petercorke/machinevision-toolbox-python/wiki">Examples and details</a></li>
+<li><a href="https://github.com/petercorke/machinevision-toolbox-python/wiki">Wiki (examples and details)</a></li>
 <li><a href="installation#">Installation</a></li>
-<li><a href="https://github.com/petercorke/machinevision-toolbox-python/wiki">Examples and details</a></li>
 <li><a href="https://github.com/petercorke/machinevision-toolbox-python/blob/master/CHANGELOG.md">Changelog</a></li>
 </ul>
 </td>

machinevision_toolbox_python-1.0.2.dist-info/RECORD

@@ -0,0 +1,58 @@
+machinevisiontoolbox/BagOfWords.py,sha256=kHAt6P5Tz5iWpP9N-fcdL3KTwimBqxu9QQ1WRs04Lzc,19680
+machinevisiontoolbox/BundleAdjust.py,sha256=syBFkXwJcRWpNr0k6gu-J3shzH0ozbgOgwaZp844fqk,36081
+machinevisiontoolbox/Camera.py,sha256=Sz6MLiVpLEKX_EtBNcd3AhTjI3Qe_4E9JuB9ERgiugA,136424
+machinevisiontoolbox/ImageBlobs.py,sha256=p9LL28SKUUVuRVb8wrxDPyXygmKqni9ReQFntrEv3ZY,73599
+machinevisiontoolbox/ImageColor.py,sha256=V4T_fs0EvFJegAQrNr-3pR7rg7Dye00g2V3JVEK4oOA,17111
+machinevisiontoolbox/ImageConstants.py,sha256=a9eCbfUFUiQj0HsEH291MjYYmXGJjYSIl6Lg7idDppw,20629
+machinevisiontoolbox/ImageCore.py,sha256=rTGHVYw9ayXmDKAXDaLAMuEKVk65aFQqeSUBxt_4qJ8,98404
+machinevisiontoolbox/ImageFiducials.py,sha256=8QwHUrMclP3rLMr2swO44nORo6AJVuIZT777-1QSB44,22341
+machinevisiontoolbox/ImageIO.py,sha256=9MOUSrM1xnkoHYk2W77G0IVPcVjX_YTCLfNg2ZbEFZ4,21935
+machinevisiontoolbox/ImageLineFeatures.py,sha256=IlWSZOrvLnzvLx1vf4GuXb4Icpj214jz9FCDleguV9s,9104
+machinevisiontoolbox/ImageMorph.py,sha256=1xn29MyEkrYRbw-Dg8X6qFKTf4_MDTQ5ddi7y8D-arw,23759
+machinevisiontoolbox/ImageMultiview.py,sha256=wQWcq2Er-EzNNQ7_0mZRuID9VFh4rCjXPxZ-yMiQ-W4,14703
+machinevisiontoolbox/ImagePointFeatures.py,sha256=Ran5vzBC3-_brg_X3b-qdXjpX0boEnzznhnkKD8J-wg,75269
+machinevisiontoolbox/ImageProcessing.py,sha256=pZuaVRlpskO2L3JCDh6BOVEfpTUhqKXwPh4usfcTKBM,38123
+machinevisiontoolbox/ImageRegionFeatures.py,sha256=MpqavHwkpevg_dD3zia0wMZMuOmatR2ndZ_TBQ_AbqE,14455
+machinevisiontoolbox/ImageReshape.py,sha256=3DAlTBpUdljzJwxyCswRoNiTbGBBP8nTWNpsHoPn03I,47470
+machinevisiontoolbox/ImageSpatial.py,sha256=dxTiml3DLp3UXV5x4auo3IuQQJVXRKrjduOpogIeklE,71856
+machinevisiontoolbox/ImageWholeFeatures.py,sha256=OBGZ_elQ6LlOxN1Hgr4dGf4AOUdgxfAD2qkgAaA7uuU,34874
+machinevisiontoolbox/PointCloud.py,sha256=AMQSXsgVneoEtecUVsvcup009Ja13NcsMZ2kMddyN-E,23455
+machinevisiontoolbox/Sources.py,sha256=mcBYA9ccvqXjPK9npwt9zAnuP18sw-q2zhwem4xW_to,28572
+machinevisiontoolbox/VisualServo.py,sha256=PlHCz_jbvV1JFfDrePQQ7cP94Wr5nliulHtYEMGwJtw,59294
+machinevisiontoolbox/__init__.py,sha256=UcoSG7Cr9Qot3mg2q748jBbo3TUB2lch4VWzOydKe8U,1363
+machinevisiontoolbox/aruco0.pdf,sha256=a_JZT-TfVv7tQNOvlHSZPf9QCNiOScm_q30jMF8T2ME,75233
+machinevisiontoolbox/aruco50.pdf,sha256=wUwqNaDmZ5EFNl1GNF_O3YRztWOZBhTq7DdMdMTskQw,77285
+machinevisiontoolbox/camera_derivatives.py,sha256=uChdvsXC-25Cg7-xH7tIbxe3tcxxJGQ_nslSiCvnL88,17557
+machinevisiontoolbox/decorators.py,sha256=hBZzLFQDhVOS3mj5Rs4GHbIIf30g_C2LO5m2xyLzH7s,2281
+machinevisiontoolbox/fiducial.py,sha256=syC7iIz95nYBTr_njo4ZzLXOyAdAIqoAZq_wRVhyUHQ,1374
+machinevisiontoolbox/machinevision-toolbox-python.code-workspace,sha256=pQBvdNW9qEbMp3qYKhvOgd3NYoO7vqnnbPMh4H8op_Y,44
+machinevisiontoolbox/mvtb_types.py,sha256=66Oa8-J0UyBTtZQ0hH1B9qPqqw7i7dTCYe3CvgnGpXg,434
+machinevisiontoolbox/newcameras.py,sha256=iQ8Fduiub4Clh1JIEVvQTXZVqXrmgzf0Y5iMPGTOW-w,1225
+machinevisiontoolbox/base/__init__.py,sha256=nQTxEyan6bOvovQKUWjag-VZzfM6P20CwUv7sbCrJEs,1547
+machinevisiontoolbox/base/color.py,sha256=GQSQIHUKrKWxuBJ4a6kfTy05RQKUhFKA4q4JyjIU358,55067
+machinevisiontoolbox/base/data.py,sha256=tDwUOHzpvGnkzlUaA3p5jQr1rlv9WIr6taRBv3gnmeU,5988
+machinevisiontoolbox/base/esttheta.py,sha256=pYFguhXwo9FoaH0sRAXxrcEkECYttDPnHWBi1YMfISY,2323
+machinevisiontoolbox/base/findpeaks.py,sha256=e0dcG6ZqHMwpzRFQrZH9-OITzhspi6Lq1TZoS37IPQY,10377
+machinevisiontoolbox/base/graphics.py,sha256=L0YuIi-HHOhogtmfwMSy9SD5tG0zdxWAYojbhCrRYCc,28956
+machinevisiontoolbox/base/imageio.py,sha256=qUZL7xz-S3o9Xh8vLVQAWqsL7HQQNtSUROERWsUimSo,40393
+machinevisiontoolbox/base/meshgrid.py,sha256=82u1ijws1zoXl5NLzTAMJjry9VEZuWqb_Akz6f1JJ8k,2937
+machinevisiontoolbox/base/shapes.py,sha256=2FmjeuDnehNF5ZmssFDawmblDpKhuVUI3CmXCcILJxg,9926
+machinevisiontoolbox/base/types.py,sha256=3znb81yTFb7sLrgjgt0P5q5wZa9_iRZGw_hWbINhCxc,4716
+machinevisiontoolbox/base/version.py,sha256=Wf76g7w1Ikff-3e-hlExYVRxvV92p04K1m_PZLH9T_I,875
+machinevisiontoolbox/bin/ce.py,sha256=012zsKMT58WZxIsLq8nzDO6b-YK04kduaTwZLSwTdrI,846
+machinevisiontoolbox/bin/imtool.py,sha256=7nHNMuoI0-5y4EdWWPkWlwKdgKVqDDbYPw2bozICLQk,4920
+machinevisiontoolbox/bin/mvtbtool.py,sha256=ehzLW6mwkNsQJVW599NFZ3k5W3ANm9UHBnAP_wLCnsg,5740
+machinevisiontoolbox/bin/tagtool.py,sha256=Gfre8skzAwZystfGFv18W6rNcnIykvtBoCvik80TWzw,7224
+machinevisiontoolbox/blocks/__init__.py,sha256=EsdfK2WxYLSo0SA5HSmlgsivLT1kDnoH9v-RTBDnWwc,142
+machinevisiontoolbox/blocks/camera.py,sha256=qWT_LoDFcZkCAlRqQkRDzX0fr4EvkEgdtGo0QPoO_8s,9776
+machinevisiontoolbox/blocks/test_blocks.py,sha256=ZKsDG_nG9g1t_OIFR6vX823yJojEAi5mtqj9PxKoDrg,1701
+machinevisiontoolbox/blocks/Icons/camera.png,sha256=CGcTB_llMoucN-rfnP6ZP_7AfE_92z6JnCdam-hDLgs,1642
+machinevisiontoolbox/blocks/Icons/estpose_p.png,sha256=1XrwL4OkotGWMwKmhnar3tt8cQWUdZiO7PxXD354T-E,4320
+machinevisiontoolbox/blocks/Icons/icons.sh,sha256=teezrmF3es8c3-MvwG1lDCt9SKWEqA0eVHOKFeBugig,115
+machinevisiontoolbox/blocks/Icons/imageplane.png,sha256=34FYQMzkq6foxvRU8pn0KkcHxpHRvsJRJSYKfNu13Eg,3902
+machinevisiontoolbox/blocks/Icons/visjac_p.png,sha256=8X023l-C9Y5DfAN8wCdWYjSjq6wp1vRzuZ85sUbwxv8,3819
+machinevision_toolbox_python-1.0.2.dist-info/METADATA,sha256=dLXvahd9CC0ah59W8SfIYchw7zDHjGz0AtKSLcvQiO8,19851
+machinevision_toolbox_python-1.0.2.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+machinevision_toolbox_python-1.0.2.dist-info/entry_points.txt,sha256=ZX7Ox5l4VcwNurmTuD85Um5NpAipiKthfVe16cccWU8,162
+machinevision_toolbox_python-1.0.2.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
+machinevision_toolbox_python-1.0.2.dist-info/RECORD,,

{machinevision_toolbox_python-1.0.0.dist-info → machinevision_toolbox_python-1.0.2.dist-info}/WHEEL

@@ -1,5 +1,4 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.7.0)
+Generator: hatchling 1.28.0
 Root-Is-Purelib: true
 Tag: py3-none-any
-

machinevision_toolbox_python-1.0.2.dist-info/entry_points.txt

@@ -0,0 +1,4 @@
+[console_scripts]
+imtool = machinevisiontoolbox.bin.imtool:main
+mvtbtool = machinevisiontoolbox.bin.mvtbtool:main
+tagtool = machinevisiontoolbox.bin.tagtool:main

machinevisiontoolbox/Camera.py

@@ -14,7 +14,6 @@ import matplotlib.pyplot as plt
 import scipy
 
 import cv2 as cv
-from spatialmath import base, Line3, SO3
 from machinevisiontoolbox.ImagePointFeatures import FeatureMatch
 from machinevisiontoolbox.base import idisp
 from machinevisiontoolbox.base.imageio import _isnotebook
@@ -26,15 +25,13 @@ from machinevisiontoolbox.base.imageio import _isnotebook
 # from mpl_toolkits.mplot3d import Axes3D, art3d
 from mpl_toolkits.mplot3d.art3d import Poly3DCollection
 
-# from collections import namedtuple
-from spatialmath import SE3
-import spatialmath.base as smbase
+from spatialmath import Line3, SE3
+import spatialmath.base as smb
 
 from machinevisiontoolbox import Image
 
 
 class CameraBase(ABC):
-
     # list of attributes
     _name = None  # camera  name (string)
     _camtype = None  # camera type (string)
@@ -121,7 +118,7 @@ class CameraBase(ABC):
             self._rhou = sensorsize[0] / self.imagesize[0]
             self._rhov = sensorsize[1] / self.imagesize[1]
         else:
-            rho = base.getvector(rho)
+            rho = smb.getvector(rho)
             if len(rho) == 1:
                 self._rhou = rho[0]
                 self._rhov = rho[0]
@@ -313,7 +310,7 @@ class CameraBase(ABC):
 
         :seealso: :meth:`width` :meth:`height` :meth:`nu` :meth:`nv`
         """
-        npix = base.getvector(npix, dtype="int")
+        npix = smb.getvector(npix, dtype="int")
         if len(npix) == 1:
             self._imagesize = np.r_[npix[0], npix[0]]
         elif len(npix) in (2, 3):
@@ -444,7 +441,7 @@ class CameraBase(ABC):
 
         :seealso: :meth:`pp` :meth:`u0` :meth:`v0`
         """
-        pp = base.getvector(pp)
+        pp = smb.getvector(pp)
         if len(pp) == 1:
             self._pp = np.r_[pp[0], pp[0]]
         elif len(pp) == 2:
@@ -869,7 +866,7 @@ class CameraBase(ABC):
         self._init_imageplane(ax)
 
         if not isinstance(P, np.ndarray):
-            P = base.getvector(P)
+            P = smb.getvector(P)
 
         if P.shape[0] == 3:
             # plot world points
@@ -927,7 +924,7 @@ class CameraBase(ABC):
         self._init_imageplane()
         plt.autoscale(False)
 
-        base.plot_homline(l, *args, ax=self._ax, **kwargs)
+        smb.plot_homline(l, *args, ax=self._ax, **kwargs)
 
     # def plot_line3(self, L, nsteps=21, **kwargs):
     #     """
@@ -1155,7 +1152,7 @@ class CameraBase(ABC):
         face order -x, +y, +x, -y
         """
         # get axes to draw in
-        ax = smbase.axes_logic(ax, 3, projection=projection)
+        ax = smb.axes_logic(ax, 3, projection=projection)
 
         if pose is None:
             pose = self.pose
@@ -1210,7 +1207,6 @@ class CameraBase(ABC):
             ax.add_collection3d(poly)
 
         elif shape == "camera":
-
             # the box is centred at the origin and its centerline parallel to the
             # z-axis.  Its z-extent is -bh/2 to bh/2.
             W = 0.5  # width & height of the box
@@ -1221,7 +1217,7 @@ class CameraBase(ABC):
             a = 3  # length of axis line segments
 
             # draw the box part of the camera
-            smbase.plot_cuboid(
+            smb.plot_cuboid(
                 sides=np.r_[W, W, L] * scale,
                 pose=pose,
                 filled=solid,
@@ -1231,7 +1227,7 @@ class CameraBase(ABC):
             )
 
             # draw the lens
-            smbase.plot_cylinder(
+            smb.plot_cylinder(
                 radius=cr * scale,
                 height=np.r_[L / 2, L / 2 + ch] * scale,
                 resolution=cn,
@@ -1305,7 +1301,6 @@ class CentralCamera(CameraBase):
     """
 
     def __init__(self, f=1, distortion=None, **kwargs):
-
         super().__init__(camtype="perspective", **kwargs)
         # TODO some of this logic to f and pp setters
         self.f = f
@@ -1449,10 +1444,10 @@ class CentralCamera(CameraBase):
             if P.ndim == 1:
                 P = P.reshape((-1, 1))  # make it a column
         else:
-            P = base.getvector(P, out="col")
+            P = smb.getvector(P, out="col")
 
         if P.shape[0] == 3:
-            P = base.e2h(P)  # make it homogeneous
+            P = smb.e2h(P)  # make it homogeneous
             euclidean = True
         else:
             euclidean = False
@@ -1469,7 +1464,7 @@ class CentralCamera(CameraBase):
 
         if euclidean:
             # Euclidean points given, return Euclidean points
-            x = base.h2e(x)
+            x = smb.h2e(x)
 
             # add Gaussian noise and distortion
             if self._distortion:
@@ -1538,7 +1533,7 @@ class CentralCamera(CameraBase):
         lines2d = []
         C = self.C()
         for line in lines:
-            l = base.vex(C @ line.skew() @ C.T)
+            l = smb.vex(C @ line.skew() @ C.T)
             x = l / np.max(np.abs(l))  # normalize by largest element
             lines2d.append(x)
         return np.column_stack(lines2d)
@@ -1587,7 +1582,7 @@ class CentralCamera(CameraBase):
 
         :seealso: :meth:`C` :meth:`project_point` :meth:`project_line`
         """
-        if not smbase.ismatrix(Q, (4, 4)):
+        if not smb.ismatrix(Q, (4, 4)):
             raise ValueError("expecting 4x4 conic matrix")
 
         return self.C() @ Q @ self.C().T
@@ -1631,7 +1626,7 @@ class CentralCamera(CameraBase):
         :seealso: :meth:`plot_epiline` :meth:`CentralCamera.F`
         """
         # p is 3 x N, result is 3 x N
-        return self.F(camera2) @ base.e2h(p)
+        return self.F(camera2) @ smb.e2h(p)
 
     def plot_epiline(self, F, p, *fmt, **kwargs):
         r"""
@@ -1673,7 +1668,7 @@ class CentralCamera(CameraBase):
         :seealso: :meth:`plot_point` :meth:`epiline` :meth:`CentralCamera.F`
         """
         # p is 3 x N, result is 3 x N
-        self.plot_line2(F @ base.e2h(p), *fmt, **kwargs)
+        self.plot_line2(F @ smb.e2h(p), *fmt, **kwargs)
 
     def plot_line3(self, L, **kwargs):
         """
@@ -1733,8 +1728,8 @@ class CentralCamera(CameraBase):
         Mi = np.linalg.inv(C[:3, :3])
         v = C[:, 3]
         lines = []
-        for point in base.getmatrix(points, (2, None)).T:
-            lines.append(Line3.PointDir(-Mi @ v, Mi @ smbase.e2h(point)))
+        for point in smb.getmatrix(points, (2, None)).T:
+            lines.append(Line3.PointDir(-Mi @ v, Mi @ smb.e2h(point)))
         return Line3(lines)
 
     @property
@@ -1820,7 +1815,7 @@ class CentralCamera(CameraBase):
             return points
 
         # convert to normalized image coordinates
-        X = np.linalg.inv(self.K) * smbase.e2h(points)
+        X = np.linalg.inv(self.K) * smb.e2h(points)
 
         # unpack coordinates
         u = X[0, :]
@@ -1848,7 +1843,7 @@ class CentralCamera(CameraBase):
         ud = u + delta_u
         vd = v + delta_v
 
-        return self.K * smbase.e2h(np.r_[ud, vd])  # convert to pixel coords
+        return self.K * smb.e2h(np.r_[ud, vd])  # convert to pixel coords
 
     @property
     def fu(self):
@@ -1928,7 +1923,7 @@ class CentralCamera(CameraBase):
         :type f: scalar or array_like(2)
         :raises ValueError: incorrect length of ``f``
         """
-        f = base.getvector(f)
+        f = smb.getvector(f)
 
         if len(f) == 1:
             self._fu = f[0]
@@ -2156,7 +2151,6 @@ class CentralCamera(CameraBase):
         valid = []
 
         for i, image in enumerate(images):
-
             gray = image.mono().A
             # Find the chess board corners
             ret, corners = cv.findChessboardCorners(gray, gridshape, None)
@@ -2334,7 +2328,7 @@ class CentralCamera(CameraBase):
         if d < 0:
             raise ValueError(d, "plane distance d must be > 0")
 
-        n = base.getvector(n)
+        n = smb.getvector(n)
         if n[2] < 0:
             raise ValueError(n, "normal must be away from camera (n[2] >= 0)")
 
@@ -2409,7 +2403,7 @@ class CentralCamera(CameraBase):
         )
 
         mask = mask.ravel().astype(bool)
-        e = base.homtrans(H, p1[:, mask]) - p2[:, mask]
+        e = smb.homtrans(H, p1[:, mask]) - p2[:, mask]
         resid = np.linalg.norm(e)
 
         if method in ("ransac", "lmeds"):
@@ -2464,7 +2458,7 @@ class CentralCamera(CameraBase):
         for R, t in zip(rotations, translations):
             # we normalize the rotation matrix, those returned by openCV can
             # not quite proper SO(3) values
-            pose = SE3.Rt(smbase.trnorm(R), t).inv()
+            pose = SE3.Rt(smb.trnorm(R), t).inv()
             T.append(pose)
         return T, normals
 
@@ -2619,15 +2613,15 @@ class CentralCamera(CameraBase):
         # add various return values
         retval = [F]
         if residual:
-            e = base.e2h(p2[:, mask]).T @ F @ base.e2h(p1[:, mask])
+            e = smb.e2h(p2[:, mask]).T @ F @ smb.e2h(p1[:, mask])
             resid = np.linalg.norm(np.diagonal(e))
             retval.append(resid)
         if method in ("ransac", "lmeds"):
             retval.append(mask)
 
         return retval
-        # elines = base.e2h(p2).T @ F # homog lines, one per row
-        # p1h = base.e2h(p1)
+        # elines = smb.e2h(p2).T @ F # homog lines, one per row
+        # p1h = smb.e2h(p1)
         # residuals = []
         # for i, line in enumerate(elines):
         #     d = line @ p1h[:, i] / np.sqrt(line[0] ** 2 + line[1] ** 2)
@@ -2661,7 +2655,7 @@ class CentralCamera(CameraBase):
         D = np.empty((p1.shape[1], p2.shape[1]))
 
         # compute epipolar lines corresponding to p1
-        l = F @ base.e2h(p1)
+        l = F @ smb.e2h(p1)
         for i in range(p1.shape[1]):
             for j in range(p2.shape[1]):
                 D[i, j] = np.abs(
@@ -2710,7 +2704,7 @@ class CentralCamera(CameraBase):
         else:
             raise ValueError("bad type")
 
-        return base.skew(T21.t) @ T21.R
+        return smb.skew(T21.t) @ T21.R
 
     def points2E(self, p1, p2, method=None, K=None, **kwargs):
         """
@@ -2815,14 +2809,13 @@ class CentralCamera(CameraBase):
             return SE3.Rt(R, t).inv()
 
         else:
-
             R1, R2, t = cv.decomposeEssentialMat(E=E)
             # not explicitly stated, but seems that this returns (R, t) from
             # camera to world
 
             possibles = [(R1, t), (R1, -t), (R2, t), (R2, -t)]
 
-            if base.isvector(P, 3):
+            if smb.isvector(P, 3):
                 for Rt in possibles:
                     pose = SE3.Rt(Rt[0], Rt[1]).inv()
                     p = self.project_point(P, pose=pose, behind=True)
@@ -2884,10 +2877,10 @@ class CentralCamera(CameraBase):
         :seealso: :meth:`flowfield` :meth:`visjac_p_polar` :meth:`visjac_l` :meth:`visjac_e`
         """
 
-        uv = base.getmatrix(uv, (2, None))
+        uv = smb.getmatrix(uv, (2, None))
         Z = depth
 
-        Z = base.getvector(Z)
+        Z = smb.getvector(Z)
         if len(Z) == 1:
             Z = np.repeat(Z, uv.shape[1])
         elif len(Z) != uv.shape[1]:
@@ -2899,9 +2892,8 @@ class CentralCamera(CameraBase):
         Kinv = np.linalg.inv(K)
 
         for z, p in zip(Z, uv.T):  # iterate over each column (point)
-
             # convert to normalized image-plane coordinates
-            xy = Kinv @ base.e2h(p)
+            xy = Kinv @ smb.e2h(p)
             x = xy[0, 0]
             y = xy[1, 0]
 
@@ -2962,14 +2954,13 @@ class CentralCamera(CameraBase):
         """
 
         J = []
-        p = smbase.getmatrix(p, (2, None))
+        p = smb.getmatrix(p, (2, None))
         f = self.f[0]
 
-        if smbase.isscalar(Z):
+        if smb.isscalar(Z):
             Z = [Z] * p.shape[1]
 
         for (phi, r), Zk in zip(p.T, Z):
-
             # k = (f**2 + r**2) / f
             # k2 = f / (r * Zk)
 
@@ -3071,7 +3062,7 @@ class CentralCamera(CameraBase):
 
         a, b, c, d = plane
 
-        lines = smbase.getmatrix(lines, (2, None))
+        lines = smb.getmatrix(lines, (2, None))
         jac = []
         for theta, rho in lines.T:
             sth = np.sin(theta)
@@ -3232,7 +3223,7 @@ class CentralCamera(CameraBase):
 
         :seealso: :meth:`visjac_p`
         """
-        vel = base.getvector(vel, 6)
+        vel = smb.getvector(vel, 6)
 
         u = np.arange(0, self.nu, 50)
         v = np.arange(0, self.nv, 50)
@@ -3387,7 +3378,6 @@ class FishEyeCamera(CameraBase):
     """
 
     def __init__(self, k=None, projection="equiangular", **kwargs):
-
         super().__init__(camtype="fisheye", **kwargs)
 
         self.projection = projection
@@ -3469,7 +3459,7 @@ class FishEyeCamera(CameraBase):
         :seealso: :meth:`plot_point`
         """
 
-        P = base.getmatrix(P, (3, None))
+        P = smb.getmatrix(P, (3, None))
 
         if pose is not None:
             T = self.pose.inv()
@@ -3479,7 +3469,7 @@ class FishEyeCamera(CameraBase):
             T *= objpose
 
         R = np.sqrt(np.sum(P**2, axis=0))
-        phi = np.arctan2(P[1, :], P[0, :])
+        phi = np.arctan2(-P[1, :], P[0, :])
         theta = np.arccos(P[2, :] / R)
 
         r = self.rfunc(theta)
@@ -3538,7 +3528,6 @@ class CatadioptricCamera(CameraBase):
     """
 
     def __init__(self, k=None, projection="equiangular", maxangle=None, **kwargs):
-
         super().__init__(camtype="catadioptric", **kwargs)
 
         self.projection = projection
@@ -3613,7 +3602,7 @@ class CatadioptricCamera(CameraBase):
 
         :seealso: :meth:`plot_point`
         """
-        P = base.getmatrix(P, (3, None))
+        P = smb.getmatrix(P, (3, None))
 
         if pose is not None:
             T = self.pose.inv()
@@ -3625,9 +3614,10 @@ class CatadioptricCamera(CameraBase):
         P = T * P  # transform points to camera frame
 
         # project to the image plane
-        R = np.sqrt(np.sum(P**2, axis=0))
         phi = np.arctan2(P[1, :], P[0, :])
-        theta = np.arccos(P[2, :] / R)
+
+        Rxy = np.sqrt(np.sum(P[:2, :] ** 2, axis=0))  # sqrt(X^2 + Y^2)
+        theta = np.arctan(P[2, :] / Rxy)
 
         r = self.rfunc(theta)  # depends on projection model
         x = r * np.cos(phi)
@@ -3660,7 +3650,6 @@ class SphericalCamera(CameraBase):
     """
 
     def __init__(self, **kwargs):
-
         # invoke the superclass constructor
         super().__init__(
             camtype="spherical",
@@ -3712,7 +3701,7 @@ class SphericalCamera(CameraBase):
 
         :seealso: :meth:`plot_point`
         """
-        P = base.getmatrix(P, (3, None))
+        P = smb.getmatrix(P, (3, None))
 
         if pose is None:
             pose = self.pose
@@ -3730,7 +3719,9 @@ class SphericalCamera(CameraBase):
         z = P[2, :] / R
 
         phi = np.arctan2(y, x)
-        theta = np.arccos(z)
+        r = np.sqrt(x**2 + y**2)
+        theta = np.arcsin(r)
+
         return np.array([phi, theta])
 
     def visjac_p(self, p, depth=None):
@@ -3761,7 +3752,7 @@ class SphericalCamera(CameraBase):
         """
 
         J = []
-        if smbase.isscalar(depth):
+        if smb.isscalar(depth):
             depth = [depth] * p.shape[1]
 
         for (phi, theta), R in zip(p.T, depth):
@@ -3780,7 +3771,7 @@ class SphericalCamera(CameraBase):
         return np.vstack(J)
 
     def plot(self, frame=False, **kwargs):
-        smbase.plot_sphere(
+        smb.plot_sphere(
             radius=1,
             filled=True,
             color="lightyellow",
@@ -3899,11 +3890,11 @@ class SphericalCamera(CameraBase):
 #             if P.ndim == 1:
 #                 P = P.reshape((-1, 1))  # make it a column
 #         else:
-#             P = base.getvector(P, out='col')
+#             P = smb.getvector(P, out='col')
 
 #         # make it homogeneous if not already
 #         if P.shape[0] == 3:
-#             P = base.e2h(P)
+#             P = smb.e2h(P)
 
 #         # project 3D points
 
@@ -3915,7 +3906,7 @@ class SphericalCamera(CameraBase):
 #         if behind:
 #             x[2, x[2, :] < 0] = np.nan  # points behind the camera are set to NaN
 
-#         x = base.h2e(x)
+#         x = smb.h2e(x)
 
 #         # add Gaussian noise and distortion
 #         x = self.add_noise_distortion(x)
@@ -4009,7 +4000,7 @@ if __name__ == "__main__":
     # print(JA)
     # print(JB)
 
-    # smbase.plotvol3(2)
+    # smb.plotvol3(2)
 
     # cam.plot_camera(scale=0.5, shape='camera', T=SE3.Ry(np.pi/2))