| 81 | } |
| 82 | |
| 83 | Eigen::Vector3d |
| 84 | Conversions::world2cam( |
| 85 | const Eigen::Vector3d& world, |
| 86 | const Eigen::Matrix3d& intrinsics) |
| 87 | { |
| 88 | Eigen::Vector3d v = intrinsics * world; |
| 89 | v /= v(2); |
| 90 | return v; |
| 91 | } |
| 92 | |
| 93 | Eigen::Vector3f |
| 94 | Conversions::world2cam( |