pytransform3d.camera.world2image¶
- pytransform3d.camera.world2image(P_world, cam2world, sensor_size, image_size, focal_length, image_center=None, kappa=0.0)[source]¶
Project points from 3D world coordinate system to 2D image.
- Parameters:
- P_worldarray-like, shape (n_points, 4)
Points in world coordinates
- cam2worldarray-like, shape (4, 4), optional (default: I)
Camera in world frame
- sensor_sizearray-like, shape (2,)
Size of the sensor array
- image_sizearray-like, shape (2,)
Size of the camera image: (width, height)
- focal_lengthfloat
Focal length of the camera
- image_centerarray-like, shape (2,), optional (default: image_size / 2)
Center of the image
- kappafloat, optional (default: 0)
Camera distortion parameter
- Returns:
- P_imgarray-like, shape (n_points, 2)
Points on image
