pytransform3d.camera.sensor2img

pytransform3d.camera.sensor2img(P_sensor, sensor_size, image_size, image_center=None)[source]

Project points from 2D sensor plane to image coordinate system.

Parameters
P_sensorarray-like, shape (n_points, 2)

Points on camera sensor

sensor_sizearray-like, shape (2,)

Size of the sensor array

image_sizearray-like, shape (2,)

Size of the camera image: (width, height)

image_centerarray-like, shape (2,), optional (default: image_size / 2)

Center of the image

Returns
P_imgarray-like, shape (n_points, 2)

Points on image

Examples using pytransform3d.camera.sensor2img