Camera Representation in 3D

This visualization is inspired by Blender’s camera visualization. It will show the camera center, a virtual image plane at a desired distance to the camera center, and the top direction of the virtual image plane.

import numpy as np
import matplotlib.pyplot as plt
import pytransform3d.camera as pc
import pytransform3d.transformations as pt


cam2world = pt.transform_from_pq([0, 0, 0, np.sqrt(0.5), -np.sqrt(0.5), 0, 0])
# default parameters of a camera in Blender
sensor_size = np.array([0.036, 0.024])
intrinsic_matrix = np.array([
    [0.05, 0, sensor_size[0] / 2.0],
    [0, 0.05, sensor_size[1] / 2.0],
    [0, 0, 1]
])
virtual_image_distance = 1

ax = pt.plot_transform(A2B=cam2world, s=0.2)
pc.plot_camera(
    ax, cam2world=cam2world, M=intrinsic_matrix, sensor_size=sensor_size,
    virtual_image_distance=virtual_image_distance)
plt.show()