camera_to_image#

deltacamera.Camera.camera_to_image(points, validate_distortion=True, dst=None)[source]#

Transform points from 3D camera coordinate space to image space. The steps involved are

  1. Projection

  2. Lens distortion

  3. Intrinsic matrix (focal length and principal point, possibly skew)

Parameters:

  • points (ndarray) – points in camera coordinates

  • validate_distortion (bool)

  • dst (Optional[ndarray])

Returns:

points in image coordinates

Return type:

ndarray