sensor_model_utils.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_recognition_utils/sensor_model_utils.h"

namespace jsk_recognition_utils
{
  std::vector<cv::Point>
  project3DPointstoPixel(const image_geometry::PinholeCameraModel& model,
                         const Vertices& vertices)
  {
    std::vector<cv::Point> ret;
    for (size_t i = 0; i < vertices.size(); i++) {
      cv::Point p = project3DPointToPixel(model, vertices[i]);
      ret.push_back(p);
    }
    return ret;
  }

}