Module projection 

Project 3D ground-truth points into each camera’s distorted pixel, with field-of-view culling.

Structs

Observation

A single camera’s observation of a 3D point: the distorted pixel, or None if the point projects outside the image (culled).

Functions

project_all

Project a 3D point into every camera of system, culling points that land outside the image.

project_pixel

Project a 3D point into a single named camera, returning the pixel (x, y) or None if the camera is unknown or the point lands outside a width x height image.