sensor_model_utils.h

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// -*- mode: c++ -*-
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#ifndef JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_
#define JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_

#include <image_geometry/pinhole_camera_model.h>
#include "jsk_recognition_utils/geo_util.h"

namespace jsk_recognition_utils
{

  inline cv::Point
  project3DPointToPixel(const image_geometry::PinholeCameraModel& model,
                        const Eigen::Vector3f& p)
  {
    return model.project3dToPixel(cv::Point3d(p[0], p[1], p[2]));
  }

  std::vector<cv::Point>
  project3DPointstoPixel(const image_geometry::PinholeCameraModel& model,
                         const Vertices& vertices);
                         
}


#endif