Overload img_from_cam for 3D points (#256)

colmap · Jan 26, 2024 · 76e72a7 · 76e72a7
1 parent 90ce2c5
commit 76e72a7
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/pycolmap/scene/camera.h b/pycolmap/scene/camera.h
@@ -176,6 +176,14 @@ void BindCamera(py::module& m) {
             return image_points;
           },
           "Project list of points from world / infinity to image plane.")
+      .def(
+          "img_from_cam",
+          [](const Camera& self,
+             const py::EigenDRef<const Eigen::MatrixX3d>& world_points) {
+            return py::cast(self).attr("img_from_cam")(
+                world_points.rowwise().hnormalized());
+          },
+          "Project list of points from world / infinity to image plane.")
       .def(
           "img_from_cam",
           [](const Camera& self, const std::vector<Point2D>& world_points) {