CentralCamera.C

CentralCamera.C(pose: SE3 | None = None, retinal: bool = False) → ndarray

Camera projection matrix

Parameters:

• T (SE3, optional) – camera pose with respect to world frame, defaults to pose from camera object

• retinal (bool, optional) – transform to retinal coordinates, default False

Returns:

camera projection/calibration matrix

Return type:

ndarray(3,4)

Return the camera matrix which projects 3D points to the image plane. It is a function of the camera’s intrinsic and extrinsic parameters.

If retinal is True then project points in retinal coordinates, in units of metres with respect to the principal point.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> camera = CentralCamera.Default(name='camera1')
>>> camera.C()
array([[800.,   0., 500.,   0.],
       [  0., 800., 500.,   0.],
       [  0.,   0.,   1.,   0.]])
>>> camera.C(SE3.Trans(0.1, 0, 0))
array([[800.,   0., 500., -80.],
       [  0., 800., 500.,   0.],
       [  0.,   0.,   1.,   0.]])
>>> camera.move(SE3(0.1, 0, 0)).C()
array([[800.,   0., 500., -80.],
       [  0., 800., 500.,   0.],
       [  0.,   0.,   1.,   0.]])

References:

• P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 13.1.

Seealso:

project_point K decomposeC