parameters: (self, uv)
return_statement: return (x, y, z)
docstring: :param uv:        rectified pixel coordinates
          :type uv:         (u, v)
  
          Returns the unit vector which passes from the camera center to through rectified pixel (u, v),
          using the camera :math:`P` matrix.
          This is the inverse of :meth:`project3dToPixel`.
docstring_summary: :param uv:        rectified pixel coordinates
          :type uv:         (u, v)
docstring_tokens: : param uv : rectified pixel coordinates : type uv : ( u v )
function: def projectPixelTo3dRay(self, uv):
          """
          :param uv:        rectified pixel coordinates
          :type uv:         (u, v)
  
          Returns the unit vector which passes from the camera center to through rectified pixel (u, v),
          using the camera :math:`P` matrix.
          This is the inverse of :meth:`project3dToPixel`.
          """
          x = (uv[0] - self.cx()) / self.fx()
          y = (uv[1] - self.cy()) / self.fy()
          norm = math.sqrt(x*x + y*y + 1)
          x /= norm
          y /= norm
          z = 1.0 / norm
          return (x, y, z)
function_tokens: def projectPixelTo3dRay ( self , uv ) : x = ( uv [ 0 ] - self . cx ( ) ) / self . fx ( ) y = ( uv [ 1 ] - self . cy ( ) ) / self . fy ( ) norm = math . sqrt ( x * x + y * y + 1 ) x /= norm y /= norm z = 1.0 / norm return ( x , y , z )