Function project_points_1_def 

pub fn project_points_1_def(
    object_points: &impl ToInputArray,
    image_points: &mut impl ToOutputArray,
    affine: Affine3d,
    k: &impl ToInputArray,
    xi: f64,
    d: &impl ToInputArray,
) -> Result<()>

Projects points for omnidirectional camera using CMei’s model

Parameters

• objectPoints: Object points in world coordinate, vector of vector of Vec3f or Mat of 1xN/Nx1 3-channel of type CV_32F and N is the number of points. 64F is also acceptable.
• imagePoints: Output array of image points, vector of vector of Vec2f or 1xN/Nx1 2-channel of type CV_32F. 64F is also acceptable.
• rvec: vector of rotation between world coordinate and camera coordinate, i.e., om
• tvec: vector of translation between pattern coordinate and camera coordinate
• K: Camera matrix .
• D: Input vector of distortion coefficients .
• xi: The parameter xi for CMei’s model
• jacobian: Optional output 2Nx16 of type CV_64F jacobian matrix, contains the derivatives of image pixel points wrt parameters including . This matrix will be used in calibration by optimization.

The function projects object 3D points of world coordinate to image pixels, parameter by intrinsic and extrinsic parameters. Also, it optionally compute a by-product: the jacobian matrix containing contains the derivatives of image pixel points wrt intrinsic and extrinsic parameters.

Overloaded parameters

Note

This alternative version of project_points_1 function uses the following default values for its arguments:

• jacobian: noArray()