World coordinates to pixels

Projects world coordinates to pixel coordinates.

Inputs

• image: Input image

• points: A matrix of points or coordinate frames in world coordinates. The shape of the matrix can be one of three possible formats:

  - N-by-2. A list of N 2D world coordinates.
  - N-by-3. A list of N 3D world coordinates.
  - 4*N-by-4. A list of N 4-by-4 coordinate frames.
  

• outputType: Type of points output. Either a point vector or a frame.

Outputs

• points: A matrix of points or coordinate frames in pixel coordinates. The type is determined by outputType.

enum OutputType

Type of the points output.

Values:

enumerator Points

A list of N pixel coordinates.

enumerator Frames

A list of N 4-by-4 coordinate frames.

The translation of the output frame is the position of the input coordinate converted to pixel coordinates. The X- and Y-axes of the output frame are the normalized directions of the X- and Y-axes of the input frame projected to pixel coordinates.