pytransform3d.camera.cam2sensor

pytransform3d.camera.cam2sensor(P_cam, focal_length, kappa=0.0)[source]

Project points from 3D camera coordinate system to sensor plane.

Parameters
P_camarray-like, shape (n_points, 3 or 4)

Points in camera coordinates

focal_lengthfloat

Focal length of the camera

kappafloat, optional (default: 0)

Camera distortion parameter

Returns
P_sensorarray-like, shape (n_points, 2)

Points on the sensor plane. The result for points that are behind the camera will be a vector of nans.

Raises
ValueError

If input is not valid

Examples using pytransform3d.camera.cam2sensor