| 475 | } |
| 476 | |
| 477 | void Sim3Solver::FromCameraToImage(const vector<Eigen::Vector3f> &vP3Dc, vector<Eigen::Vector2f> &vP2D, GeometricCamera* pCamera) |
| 478 | { |
| 479 | vP2D.clear(); |
| 480 | vP2D.reserve(vP3Dc.size()); |
| 481 | |
| 482 | for(size_t i=0, iend=vP3Dc.size(); i<iend; i++) |
| 483 | { |
| 484 | Eigen::Vector2f pt2D = pCamera->project(vP3Dc[i]); |
| 485 | vP2D.push_back(pt2D); |
| 486 | } |
| 487 | } |
| 488 | |
| 489 | } //namespace ORB_SLAM |