pycvcam.core.Extrinsic._compute_rays#
- abstractmethod Extrinsic._compute_rays(normalized_points, **kwargs)[source]#
Computes the rays in the world coordinate system for the given normalized points.
A ray is the concatenation of the normalized points with a z-coordinate of 1.0 representing the origin of the ray in the world coordinate system and a direction vector of (0, 0, 1) representing the direction of the ray in the world coordinate system.
The ray structure is as follows:
The first 3 elements are the origin of the ray in the world coordinate system (the normalized points with z=1).
The last 3 elements are the direction of the ray in the world coordinate system, which is always (0, 0, 1) for this model. The direction vector is normalized.
- Parameters:
normalized_points (numpy.ndarray) – The normalized points in the camera coordinate system. Shape (n_points, 2).
- Returns:
The rays in the world coordinate system. Shape (n_points, 6).
- Return type: