pycvcam.core.Intrinsic.unscale

Intrinsic.unscale(image_points, *, transpose=False, dx=False, dp=False, **kwargs)

Alias for the inverse_transform method, which applies the inverse intrinsic transformation to the points.

See also

• pycvcam.core.Transform.inverse_transform() for applying the inverse transformation to points.

Note

The image_points is converted to a numpy array of dtype=numpy.float64.

Parameters:

• image_points (ArrayLike) – The image points to be transformed. Shape (…, 2).

• transpose (bool, optional) – If True, the input points are assumed to have shape (2, …) instead of (…, 2) and the output points will have shape (2, …). Default is False.

• dx (bool, optional) – If True, the jacobian with respect to the image points is computed. Default is False

• dp (bool, optional) – If True, the jacobian with respect to the intrinsic parameters is computed. Default is False

Returns:

The result of the inverse transformation, which includes the distorted_points and the Jacobian matrices if available.

Return type:

TransformResult

Examples

intrinsic = ... # An instance of a subclass of Intrinsic

import numpy

image_points = numpy.array([[3.0, 3.0], [4.0, 4.0], [5.0, 5.0]]) # shape (n_points, 2)
result = intrinsic.unscale(image_points)
distorted_points = result.distorted_points  # shape (n_points, 2)

# SAME AS:
result = intrinsic.inverse_transform(image_points)
distorted_points = result.transformed_points  # shape (n_points, 2)