/// <summary>
/// Unproject a Vector2 on image space in (u, v) coordinate to a Vector3 world space
/// </summary>
public Vector3 UnprojRaw(Vector2 p, DoUndistort undistort = DoUndistort.NO, bool invertX = false, bool invertY = false)
{
float x = (p.x - Cx) / Fx;
float y = (p.y - Cy) / Fy;
x = invertX ? -x : x;
y = invertY ? -y : y;
Vector2 undis;
if (undistort == DoUndistort.YES)
{
undis = Undistort(x, y);
return(new Vector3(undis.x, undis.y, 1.0f).normalized);
}
else
{
return(new Vector3(x, y, 1.0f).normalized);
}
}
/// <summary>
/// Unproject a Vector2 on image space in [0, 1] scale to a Vector3 world space
/// </summary>
public Vector3 Unproj(Vector2 p, DoUndistort undistort = DoUndistort.NO, bool invertX = false, bool invertY = false)
{
return(UnprojRaw(new Vector2(p.x * Width, p.y * Height), undistort, invertX, invertY));
}
