pypose.point2pixel

pypose.point2pixel(points, intrinsics, extrinsics=None)

Project batched sets of points (either in camera or world frame) to pixels.

Parameters:

• points (torch.Tensor) – The 3D coordinate of points. Assumed to be in the camera frame if extrinsics is None, otherwiwse in the world frame. The shape has to be (…, N, 3).

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

• extrinsics (pypose.LieTensor, optional) – The extrinsic parameters of cameras. The shape has to be (…, 7). Default: None.

Returns:

The associated pixel with shape (…, N, 2).

Return type:

torch.Tensor

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  ]])
>>> object = torch.tensor([[2., 0., 2.],
...                        [1., 0., 2.],
...                        [0., 1., 1.],
...                        [0., 0., 1.],
...                        [1., 0., 1.],
...                        [5., 5., 3.]])
>>> pixels = pp.point2pixel(object, intrinsics)
tensor([[6.5000, 4.5000],
        [5.5000, 4.5000],
        [4.5000, 6.5000],
        [4.5000, 4.5000],
        [6.5000, 4.5000],
        [7.8333, 7.8333]])
>>> pose = pp.SE3([ 0., -8,  0.,  0., -0.3827,  0.,  0.9239])
>>> pixels = pp.point2pixel(object, intrinsics, pose)
tensor([[  4.4999,  -1.1568],
        [  3.8332,  -3.0425],
        [  2.4998, -15.2997],
        [  2.4998, -18.1282],
        [  4.4999,  -6.8135],
        [  4.9999,   3.4394]])