:3DڵĿеͶӰ(Ϊԭ)

ʽ:
SLAM_Reprojection(R, t, p, K)
SLAM_Reprojection(R, t, p)

R: 3*3ת
t: һ3Ԫصľʾƫ
p: һ3Ԫصľʾռ3Dλ
K: 3*3ڲ,ĬΪλ

˵:ִгɹһ2*1ľ,ʾ3DͶӰƽλ

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