Project

class sonic.Project
Method Summary
static crop(to_crop, hfov_RAD, vfov_RAD, dist_model)

Crops a set of points lying in P2/R2 based on the specified horizontal and vertical FOV values. Optionally considers the effects of a distortion model when calculating the bounds to crop.

Inputs:

  • to_crop (1x1 sonic.Points2): 2D scene to crop. Currently only supports cropping a set of 2D points.

  • hfov_RAD (1x1 double): Horizontal field-of-view, in radians. This is a full-angle FOV.

  • vfov_RAD (1x1 double): Vertical field-of-view, in radians. This is a full-angle FOV.

  • dist_model (1x1 sonic.DistortionModel): OPTIONAL, if specified will consider the effect of the distortion model when calculating the cropping bounds.

Outputs:

  • cropped_obj (1x1 sonic.Points2): Set of points which were contained within the calculated cropping bounds.

  • crop_map (1xn logical): Mapping of which points were successfully projected. It will be a 1xn vector (where n is the number of points contained in to_crop), with m true entries, where m points lie within the calculated cropping bounds.

Last revised: 03/15/24 Last author: Michael Krause

static pinhole(to_proj, proj_behind_cam)

Performs a rectilinear projection of 3D points/lines/quadrics into a 2D image plane. Assumes a camera origin at z = 0, with an image plane lying at z = 1.

NOTE: Currently only supports points and Ellipsoids.

Inputs:

  • to_proj (1x1 sonic.Points3 OR sonic.PointsS2 OR sonic.Ellipsoid): Object to project. Must be expressed in the camera frame.

  • proj_behind_cam (1x1 logical): Flag indicating whether to project points that lie behind the plane of the camera. OPTIONAL: defaults to FALSE.

Outputs:

  • proj_obj (1x1): Set of projected object(s), lying on the image plane at z = 1.

  • did_proj (1xn logical): Mapping of which points were successfully projected. If proj_behind_cam was set to false (as it is by default), only points in front of the camera will be projected. Thus, it will be a 1xn vector (where n is the number of points contained in to_proj), with m true entries, where m points lie in front of the camera.

Last revised: 03/06/24 Last author: Michael Krause

static stereographic(to_proj, proj_behind_cam)

Performs a stereographic projection of 3D points/lines/quadrics into a 2D image plane. Assumes a camera origin at z = -1, with an image plane lying at z = 0.

NOTE: Currently only supports points.

Inputs:

  • to_proj (1x1 sonic.Points3 OR sonic.PointsS2): Object to project. Currently only supports projection of points, which must either be 3D points or points lying on the sphere.

  • proj_behind_cam (1x1 logical): Flag indicating whether to project points that lie behind the plane of the camera. OPTIONAL: defaults to FALSE.

Outputs:

  • proj_obj (1x1 sonic.Points2): Set of projected points, lying on the image plane at z = 0.

  • did_proj (1xn logical): Mapping of which points were successfully projected. If proj_behind_cam was set to false (as it is by default), only points in front of the camera will be projected. Thus, it will be a 1xn vector (where n is the number of points contained in to_proj), with m true entries, where m points lie in front of the camera.

Last revised: 03/06/24 Last author: Michael Krause