pypose.pixel2point

pypose.pixel2point(pixels, depth, intrinsics)

Convert batch of pixels with depth into points (in camera coordinate)

Parameters:

• pixels – (torch.Tensor) The 2d coordinates of pixels in the camera pixel coordinate. Shape has to be (…, N, 2)

• depth – (torch.Tensor) The depths of pixels with respect to the sensor plane. Shape has to be (…, N)

• intrinsics – (torch.Tensor): The intrinsic parameters of cameras. The shape has to be (…, 3, 3).

Returns:

torch.Tensor The associated 3D-points with shape (…, N, 3)

Example

>>> import torch, pypose as pp
>>> f, (H, W) = 2, (9, 9) # focal length and image height, width
>>> intrinsics = torch.tensor([[f, 0, H / 2],
...                            [0, f, W / 2],
...                            [0, 0,   1  ]])
>>> pixels = torch.tensor([[0.5, 0.0],
...                        [1.0, 0.0],
...                        [0.0, 1.3],
...                        [1.0, 0.0],
...                        [0.5, 1.5],
...                        [5.0, 1.5]])
>>> depths = torch.tensor([5.0, 3.0, 6.5, 2.0, 0.5, 0.7])
>>> points = pp.pixel2point(pixels, depths, intrinsics)
tensor([[-10.0000, -11.2500,   5.0000],
        [ -5.2500,  -6.7500,   3.0000],
        [-14.6250, -10.4000,   6.5000],
        [ -3.5000,  -4.5000,   2.0000],
        [ -1.0000,  -0.7500,   0.5000],
        [  0.1750,  -1.0500,   0.7000]])