12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add backproject

release/4.3a0
Kai Ni 2010-11-12 06:54:43 +00:00
parent f48fdc0909
commit 115d2266bd
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/geometry/GeneralCameraT.h
View File

@ -72,6 +72,12 @@ class GeneralCameraT {
cameraPoint.z() > 0);
}
Point3 backproject(const Point2& projection, const double scale) const {
Point2 intrinsic = calibration_.calibrate(projection);
Point3 cameraPoint = CalibratedCamera::backproject_from_camera(intrinsic, scale);
return calibrated_.pose().transform_from(cameraPoint);
}
/**
* project a 3d point to the camera
* P is point in camera coordinate