Method ImageToNormalized

src/lib/data/SceneData.cpp:653–668

Unprojection to normalized image space

// Unprojection to normalized image space
vec3 SceneCameraParams::ImageToNormalized(vec2 ip, float z)
{
    vec3 np;
    if (camera_model_type == CameraModel::PINHOLE_DISTORTION)
    {
        vec2 ip2 = K.unproject2(ip);
        ip2      = undistortPointGN(ip2, ip2, distortion);

        np = vec3(ip2(0) * z, ip2(1) * z, z);
    }
    else
    {
        SAIGA_EXIT_ERROR("sdlf");
    }
    return np;
}


std::pair<vec2, float> SceneCameraParams::NormalizedToImage(vec3 p)