Function mrpt::img::camera_geometry::projectPoint_with_distortion

Function Documentation

void mrpt::img::camera_geometry::projectPoint_with_distortion(const mrpt::math::TPoint3D &pointInCamFrame, const mrpt::img::TCamera &cameraParams, mrpt::img::TPixelCoordf &pixel, bool acceptPointsBehind = false)

Project a single 3D point (in camera frame) to image plane with distortion.

See also

projectPoints_with_distortion

Parameters:

  • pointInCamFrame – [IN] 3D point in camera coordinate frame (X right, Y down, Z forward)

  • cameraParams – [IN] Complete camera model (intrinsics + distortion)

  • pixel – [OUT] Projected pixel coordinates

  • acceptPointsBehind – [IN] If false, points with Z≤0 are marked as (-1,-1)