Template Function mrpt::img::camera_geometry::projectPoint(const mrpt::img::TCamera&, const mrpt::math::TPose3D&, const mrpt::math::TPoint3D&)

• Defined in File camera_geometry.h

Function Documentation

template<bool INVERSE_CAM_POSE>
mrpt::img::TPixelCoordf mrpt::img::camera_geometry::projectPoint(const mrpt::img::TCamera &cameraParams, const mrpt::math::TPose3D &cameraPose, const mrpt::math::TPoint3D &point3D)

Project a single 3D point without distortion (template version).

Template Parameters:

INVERSE_CAM_POSE – How camera pose F is interpreted:

• false: Point in camera = P ⊖ F (inverse composition, typical use)

• true: Point in camera = F ⊕ P (direct composition)

Parameters:

• cameraParams – [IN] Camera intrinsic parameters

• cameraPose – [IN] Camera pose

• point3D – [IN] 3D point in world coordinates

Returns:

Projected pixel coordinates