public boolean planeToNormalized ( double pointX , double pointY , Point2D_F64 normalized ) { // convert it into a 3D coordinate and transform into camera reference frame plain3D . set ( - pointY , 0 , pointX ) ; SePointOps_F64 . transform ( planeToCamera , plain3D , camera3D ) ; // if it's behind the camera it can't be seen if ( camera3D . z <= 0 ) return false ; // normalized image coordinates and convert into pixels normalized . x = camera3D . x / camera3D . z ; normalized . y = camera3D . y / camera3D . z ; return true ; }
Given a point on the plane find the normalized image coordinate