blenderproc.python.camera.CameraProjection module

Collection of camera projection helper functions.

blenderproc.python.camera.CameraProjection.depth_via_raytracing(bvh_tree, frame=None, return_dist=False)[source]

Computes a depth images using raytracing.

All pixel that correspond to rays which do not hit any object are set to inf.

Parameters:

  • bvh_tree (BVHTree) – The BVH tree to use for raytracing.

  • frame (Optional[int]) – The frame number whose assigned camera pose should be used. If None is given, the current frame is used.

  • return_dist (bool) – If True, a distance image instead of a depth image is returned.

Return type:

ndarray

Returns:

The depth image with shape [H, W].

blenderproc.python.camera.CameraProjection.pointcloud_from_depth(depth, frame=None, depth_cut_off=1000000.0)[source]

Compute a point cloud from a given depth image.

Parameters:

  • depth (ndarray) – The depth image with shape [H, W].

  • frame (Optional[int]) – The frame number whose assigned camera pose should be used. If None is given, the current frame is used.

  • depth_cut_off (float) – All points that correspond to depth values bigger than this threshold will be set to NaN.

Return type:

ndarray

Returns:

The point cloud with shape [H, W, 3]

blenderproc.python.camera.CameraProjection.project_points(points, frame=None)[source]

Project 3D points into the 2D camera image.

Parameters:

  • points (ndarray) – A list of 3D points with shape [N, 3].

  • frame (Optional[int]) – The frame number whose assigned camera pose should be used. If None is given, the current frame is used.

Return type:

ndarray

Returns:

The projected 2D points with shape [N, 2].

blenderproc.python.camera.CameraProjection.unproject_points(points_2d, depth, frame=None, depth_cut_off=1000000.0)[source]

Unproject 2D points into 3D

Parameters:

  • points_2d (ndarray) – An array of N 2D points with shape [N, 2].

  • depth (ndarray) – A list of depth values corresponding to each 2D point, shape [N].

  • frame (Optional[int]) – The frame number whose assigned camera pose should be used. If None is given, the current frame is used.

  • depth_cut_off (float) – All points that correspond to depth values bigger than this threshold will be set to NaN.

Return type:

ndarray

Returns:

The unprojected 3D points with shape [N, 3].