Perspective Camera¶
-
project_points(point_3d: torch.Tensor, camera_matrix: torch.Tensor) → torch.Tensor[source]¶ Projects a 3d point onto the 2d camera plane.
- Parameters
point3d (torch.Tensor) – tensor containing the 3d points to be projected to the camera plane. The shape of the tensor can be \((*, 3)\).
camera_matrix (torch.Tensor) – tensor containing the intrinsics camera matrix. The tensor shape must be Bx4x4.
- Returns
array of (u, v) cam coordinates with shape \((*, 2)\).
- Return type
-
unproject_points(point_2d: torch.Tensor, depth: torch.Tensor, camera_matrix: torch.Tensor, normalize: bool = False) → torch.Tensor[source]¶ Unprojects a 2d point in 3d.
Transform coordinates in the pixel frame to the camera frame.
- Parameters
point2d (torch.Tensor) – tensor containing the 2d to be projected to world coordinates. The shape of the tensor can be \((*, 2)\).
depth (torch.Tensor) – tensor containing the depth value of each 2d points. The tensor shape must be equal to point2d \((*, 1)\).
camera_matrix (torch.Tensor) – tensor containing the intrinsics camera matrix. The tensor shape must be Bx4x4.
normalize (bool, optional) – whether to normalize the pointcloud. This must be set to True when the depth is represented as the Euclidean ray length from the camera position. Default is False.
- Returns
tensor of (x, y, z) world coordinates with shape \((*, 3)\).
- Return type