pyorc.CameraConfig.rotate

CameraConfig.rotate(pts_old, pts_new) → tuple[pyorc.api.cameraconfig.CameraConfig, numpy.ndarray]

Rotate the entire camera configuration based on two sets of points.

The selected sets of points represent the same in the real world, but are different in the camera perspective. This method can be used to correct a camera pose in cases where the camera was accidentally rotated e.g. during maintenance work. This method only works when the camera has not significantly changed in horizontal or vertical position (a few cm are ok, but not tens of cms).

Parameters:

• pts_old (list of lists (2 or more)) – [col, row] coordinates in original camera perspective without any undistortion applied, representing the same real-world points as pts_new

• pts_new (list of lists (2 or more)) – [col, row] coordinates in changed camera perspective without any undistortion applied, representing the same real-world points as pts_old

Returns:

• CameraConfig – New CameraConfig instance with rotated camera configuration. Also the [col, row] points in gcps[“src”] are updated to reflect the new camera perspective.

• error (np.ndarray) – Reprojection error of the rotation increment, which can be used to assess the quality of the rotation. The errors are measured in normalized pixels. E.g. an error of 0.001 means that the points are off by 0.001 times the focal length of the camera, which is typically around 1 pixel for a focal length of 1000 pixels.