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並前往https://discourse.ros.org/t/how-to-project-3d-data-into-pixel-coordinate/2616

How to project 3D data into pixel coordinate?

def world_to_pixel(self, point): x = point[0] y = point[1] z = point[2] px = xself.K[0][0]/z + self.K[0][2] py = yself.K[1][1]/z + self.

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