SphericalCamera.project_point#

SphericalCamera.project_point(P: ndarray | float | int | list[float | int] | tuple[float | int, ...], pose: SE3 | None = None, objpose: SE3 | None = None) → ndarray[source]#

Project 3D points to image plane

Parameters:

  • P (array_like(3), array_like(3,n)) – 3D world point or points

  • pose (SE3, optional) – camera pose with respect to the world frame, defaults to camera’s pose attribute

  • objpose (SE3, optional) – 3D point reference frame, defaults to world frame

Returns:

image plane points

Return type:

ndarray(2,n)

Project world points to the spherical camera image plane.

World points are given as a 1D array or the columns of a 2D array of Euclidean coordinates. The computed image plane coordinates are in polar form \((\phi, \theta)\) (longitude, colatitude), and given as a 1D array or the corresponding columns of a 2D array.

If pose is specified it is used for the camera pose instead of the attribute pose. The object’s attribute is not updated.

The points P are by default with respect to the world frame, but they can be transformed by specifying objpose.

Seealso:

plot_point