From 76e72a7a0307e60fa9d3d5d375ca79600b5348e9 Mon Sep 17 00:00:00 2001
From: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com>
Date: Fri, 26 Jan 2024 09:44:23 +0100
Subject: [PATCH] Overload img_from_cam for 3D points (#256)

---
 pycolmap/scene/camera.h | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/pycolmap/scene/camera.h b/pycolmap/scene/camera.h
index 3eab552..d682d3c 100644
--- 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) {