pysdic.View.project_points#

View.project_points(world_points, dx=False, dintrinsic=False, ddistortion=False, dextrinsic=False)[source]#

Project 3D world points to 2D pixel points using the camera’s intrinsic, extrinsic, and distortion parameters from a PointCloud instance.

This method is a convenience wrapper around the camera’s own project method.

See also

Parameters:

world_points (PointCloud) – The 3D world points to be projected.
dx (bool, optional) – If True, the function will also return the jacobian of the pixel points with respect to the world points. Default is False.
dintrinsic (bool, optional) – If True, compute the Jacobian of the pixel points with respect to the intrinsic parameters. Default is False.
ddistortion (bool, optional) – If True, compute the Jacobian of the pixel points with respect to the distortion parameters. Default is False.
dextrinsic (bool, optional) – If True, compute the Jacobian of the pixel points with respect to the extrinsic parameters. Default is False.

Returns:

A ProjectionResult object containing the projected image points and optionally the jacobians.

image_points: An array of shape (\(N_p\), 2) representing the projected images points in the image coordinate system \((x, y)\).
jacobian_dx: (optional) A 3D array of shape (\(N_p\), 2, 3) representing the jacobian of the normalized points with respect to the world points if dx is True.
jacobian_dintrinsic: (optional) A 3D array of shape (\(N_p\), 2, \(N_{\text{intrinsic}}\)) representing the jacobian of the pixel points with respect to the intrinsic parameters if dintrinsic is True.
jacobian_ddistortion: (optional) A 3D array of shape (\(N_p\), 2, \(N_{\text{distortion}}\)) representing the jacobian of the pixel points with respect to the distortion parameters if ddistortion is True.
jacobian_dextrinsic: (optional) A 3D array of shape (\(N_p\), 2, \(N_{\text{extrinsic}}\)) representing the jacobian of the pixel points with respect to the extrinsic parameters if dextrinsic is True.

Return type:

ProjectionResult