CentralCamera.project_line#

CentralCamera.project_line(lines: Line3) → ndarray[source]#

Project 3D lines to image plane

Parameters:: lines (Line3 instance with N values) – Plucker line or lines
Returns:: 2D homogeneous lines, one per column
Return type:: ndarray(3,N)

The Line3 object can contain multiple lines. The result array has one column per line, and each column is a vector describing the image plane line in homogeneous form \(\ell_0 u + \ell_1 v + \ell_2 = 0\).

The projection is

\[\ell = \vex{\mat{C} \sk{\vec{L}} \mat{C}^{\top}}\]

where \(\mat{C}\) is the camera calibration matrix and \(\sk{\vec{L}}\) is the skew matrix representation of the Plucker line.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import Line3
>>> line = Line3.Join((-3, -4, 5), (5, 2, 6))
>>> line
Line3([-34, 43, 14, -8, -6, -1])
>>> camera = CentralCamera()
>>> camera.project_line(line)
array([[ 0.7907],
       [-1.    ],
       [-0.3256]])

References:

P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 13.7.1.

Seealso:

C Line3 project_point project_quadric

CentralCamera.project_line#

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