CameraModel.project_onto_image

abstract CameraModel.project_onto_image(points_in_camera_frame, image=0, temperature=0)[source]

This method transforms 3D points (or directions) expressed in the camera frame into the corresponding 2D image locations.

The points input should be either 1 or 2 dimensional, with the first axis being length 3 (each point (direction) in the camera frame is specified as a column).

The optional image key word argument specifies the index of the image you are projecting onto (this only applies if you have a separate misalignment for each image)

The optional temperature key word argument specifies the temperature to use when projecting the points into the image. This only applies when your focal length has a temperature dependence

Parameters:

  • points_in_camera_frame (Sequence | ndarray) – a shape (3,) or shape (3, n) array of points to project

  • image (int) – The index of the image being projected onto (only applicable with multiple misalignments)

  • temperature (Real) – The temperature of the camera to use for the projection

Returns:

A shape (2,) or shape (2, n) numpy array of image points (with units of pixels)

Return type:

ndarray