ImageProjectionResult

class ImageProjectionResult(gray_levels, image_points, jacobian_dx=None, jacobian_dintrinsic=None, jacobian_ddistortion=None, jacobian_dextrinsic=None)

Bases: object

A class to represent the result of the projection of 3D world_points to the image gray levels. In the documentation \(N_p\) refers to the number of points, \(N_{\text{extrinsic}}\) refers to the number of extrinsic parameters, \(N_{\text{distortion}}\) refers to the number of distortion parameters, and \(N_{\text{intrinsic}}\) refers to the number of intrinsic parameters.

This class is used to store the results of a transformation, including the transformed points and the Jacobian matrices.

See also

• pysdic.View.image_project() for the method that performs the transformation and returns an instance of this class.

Parameters:

• gray_levels (ndarray)

• image_points (ndarray)

• jacobian_dx (ndarray | None)

• jacobian_dintrinsic (ndarray | None)

• jacobian_ddistortion (ndarray | None)

• jacobian_dextrinsic (ndarray | None)

gray_levels

The values in gray levels after the projection of the 3D world points in the image. Shape (\(N_p\), \(N_{\text{channels}}\)) where channels is 1 for grayscale images and 3 for RGB images.

Type:

numpy.ndarray

image_points

The projected pixel points in the image coordinate system \((x, y)\). Shape (\(N_p\), 2)

Type:

numpy.ndarray

jacobian_dx

The Jacobian matrix of the gray levels with respect to the world points. Shape (\(N_p\), \(N_{\text{channels}}\), 3) if dx is True, otherwise None.

Type:

Optional[numpy.ndarray]

jacobian_dintrinsic

The Jacobian matrix of the gray levels with respect to the intrinsic parameters. Shape (\(N_p\), \(N_{\text{channels}}\), \(N_{\text{intrinsic}}\)) if dintrinsic is True, otherwise None.

Type:

Optional[numpy.ndarray]

jacobian_ddistortion

The Jacobian matrix of the gray levels with respect to the distortion parameters. Shape (\(N_p\), \(N_{\text{channels}}\), \(N_{\text{distortion}}\)) if ddistortion is True, otherwise None.

Type:

Optional[numpy.ndarray]

jacobian_dextrinsic

The Jacobian matrix of the gray levels with respect to the extrinsic parameters. Shape (\(N_p\), \(N_{\text{channels}}\), \(N_{\text{extrinsic}}\)) if dextrinsic is True, otherwise None.

Type:

Optional[numpy.ndarray]