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a camera projection lib to calculate the ray direction of a pixel and vice versa

Project description


a python module for camera projection and reprojection



  • python 2.6, 2.7, or 3.x
  • NumPy


The easiest way is to install it from Pypi with: $ pip install camproject

To install system-wide from source distribution: $ python install


import numpy as np
import camproject

P = np.array([[1],[0],[10],[1]]) # this is a point in 3D (e.g. in meters)
cam = camproject.Camera()  
cam.intrinsics(640,512,1000,320,260) # inner parameters: (in pixels)
# (im_width,im_height, focal_length, centerpixel_x, centerpixel_y)
cam.attitudeMat(np.eye(4))  # outer parameters: point to z-direction
p = cam.project(P) # gives pixel coordinates on the image

to reproject it back to the 3D world we use this code

Q = cam.reprojectToPlane(p,distance=10) 


  • documentation can be found at
  • If you acquired this code via GitHub, then you can build the documentation using sphinx. From the documentation directory, run: $ make html

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