pyorc.CameraConfig.project_points#

CameraConfig.project_points(points: List[List], within_image=False, swap_y_coords=False) → ndarray[source]#

Project real world x, y, z coordinates into col, row coordinates on image.

If col, row coordinates are not allowed to go outside of the image frame, then set within_image = True. Method uses the intrinsics and extrinsics and distortion parameters to perform the projection.

Parameters:

points (list of lists or array-like) – list of points [x, y, z] in real world coordinates
within_image (bool, optional) – Set coordinates to NaN if these fall outside of the image.
swap_y_coords (bool, optional) – If set to True (default: False), y-coordinates will be swapped, in order to match plotting defaults which return row counting from top to bottom instead of bottom to top.

Returns:

points_project – list of points (equal in length as points) with [col, row] coordinates

Return type:

list or array-like