:3DڵĿеͶӰ(Ϊԭ)

ʽ:
SLAM_Reprojection(T, p, K)
SLAM_Reprojection(T, p)

T: һ4*4ľ,洢λ.λϵϵбʾ
p: һΪ3ľ, ÿһбʾһ3Dꡣ
K: 3*3ڲ, ĬΪλ

˵:
1. ִгɹһm * 2ľ, mpһ, صÿһһһӦ3D2Dꡣ

:
v = [0.1,0.2,0.3];
r = {SLAM_VToR<\SLAM_VToR>}(v);
t = [1,2,3];
p = [4,5,3];
pose = {SLAM_SE3<\SLAM_SE3>}(r, t);
z = SLAM_Reprojection(pose, p)//سõ½
z =
[ 0.67765576211744 1.32877233164722 ]