CentralCamera.ray

CentralCamera.ray(points: ndarray | float | int | list[float | int] | tuple[float | int, ...], pose: SE3 | None = None) → Line3

Project image plane points to a ray

Parameters:

• points (ndarray(2,N)) – image plane points

• pose (SE3, optional) – camera pose, defaults to None

Returns:

corresponding Plucker lines

Return type:

Line3

For each image plane point compute the equation of a Plucker line that represents the 3D ray from the camera origin through the image plane point.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> camera = CentralCamera.Default()
>>> line = camera.ray((100, 200))
>>> line
Line3([-0, 0, 0, -0.5, -0.375, 1])

References:

• “Multiview Geometry”, Hartley & Zisserman, p.162

• P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 14.3.

Seealso:

Line3