PinHoleBackProjector

PinHoleBackProjector(name: str, img_shape: tuple, focal_length: float, frustrum_angles: tuple)

Description

Takes the depth image of a pinhole camera as input and transforms the image into a point cloud.

Parameters

• img_shape : tuple(H,W)
• focal_length : float
• frustrum_angles : tuple(dphi, dtheta)

Slots

• Input: jnp.array(img_shape)
• output: jnp.ndarray(H*W,3)

Import

from juniper.robotics import PinHoleBackProjector