This subpackage contains code to perform various geometric operations to convert between 3D positions and 2D image coordinates using the pinhole camera model.
Most notably these include:
- projection to go from 3D points to 2D image coordinates
- triangulation to go from a set of corresponding image coordinates to a 3D point
- unprojection to go from a 2D coordinate to a 3D point by intersecting the ray with depth information
For mathematical background, see:
- IRM course
- Sleziski, Computer Vision and Algorithms
- Opencv page on cameras