parameters: (self,camerapoints, Tcamera,rayneardist=0)
docstring: Retrives the positions on the object of points in camera space.
          camerapoints is Nx3 array
          Returns hitindices (N points) ,hitpositions (Nx3 vector)
docstring_summary: Retrives the positions on the object of points in camera space.
          camerapoints is Nx3 array
          Returns hitindices (N points) ,hitpositions (Nx3 vector)
docstring_tokens: Retrives the positions on the object of points in camera space . camerapoints is Nx3 array Returns hitindices ( N points ) hitpositions ( Nx3 vector )
function: def GetContactPointsFromImageRays(self,camerapoints, Tcamera,rayneardist=0):
          """Retrives the positions on the object of points in camera space.
          camerapoints is Nx3 array
          Returns hitindices (N points) ,hitpositions (Nx3 vector)"""
          if camerapoints.size == 0:
              return array(()),array(())
          maxdist = fabs(dot(Tcamera[0:3,2],Tcamera[0:3,3]))+self.maxradius+0.2
          raydirs = dot(camerapoints / tile(vstack(sqrt(sum(camerapoints**2,1))),(1,3)),transpose(Tcamera[0:3,0:3]))
          rays = c_[tile(Tcamera[0:3,3],(raydirs.shape[0],1))+rayneardist*raydirs,raydirs*maxdist]
          with self.orenv:
              indices,info = self.orenv.CheckCollisionRays(rays,self.orobj)
              return indices,info
function_tokens: def GetContactPointsFromImageRays ( self , camerapoints , Tcamera , rayneardist = 0 ) : if camerapoints . size == 0 : return array ( ( ) ) , array ( ( ) ) maxdist = fabs ( dot ( Tcamera [ 0 : 3 , 2 ] , Tcamera [ 0 : 3 , 3 ] ) ) + self . maxradius + 0.2 raydirs = dot ( camerapoints / tile ( vstack ( sqrt ( sum ( camerapoints ** 2 , 1 ) ) ) , ( 1 , 3 ) ) , transpose ( Tcamera [ 0 : 3 , 0 : 3 ] ) ) rays = c_ [ tile ( Tcamera [ 0 : 3 , 3 ] , ( raydirs . shape [ 0 ] , 1 ) ) + rayneardist * raydirs , raydirs * maxdist ] with self . orenv : indices , info = self . orenv . CheckCollisionRays ( rays , self . orobj ) return indices , info