world_ray

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world_ray#

rapidtools.processing.street_localization.world_ray(camera_bearing: Sequence[float] | ndarray, rotation_vector: Sequence[float] | ndarray) → ndarray[source]#

Rotate a camera-frame direction into the world (east, north, up) frame.

Example

>>> ray = world_ray([0.0, 0.0, 1.0], [0.0, 0.0, 0.0])
>>> [round(float(v), 3) for v in ray]
[0.0, 0.0, 1.0]
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