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.IX Title "MRCAL 1"
.TH MRCAL 1 2024-02-04 "mrcal 2.3-4.1~exp1" "mrcal: camera projection, calibration toolkit"
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.SH NAME
mrcal\-reproject\-points \- Reprojects pixel observations from one model to another
.SH SYNOPSIS
.IX Header "SYNOPSIS"
.Vb 4
\&  $ < points\-in.vnl
\&    mrcal\-reproject\-points
\&      from.cameramodel to.cameramodel
\&    > points\-out.vnl
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.SH DESCRIPTION
.IX Header "DESCRIPTION"
This tool takes a set of pixel observations of points captured by one camera
model, and transforms them into observations of the same points captured by
another model. This is similar to mrcal-reproject-image, but acts on discrete
points, rather than on whole images. The two sets of intrinsics are always used.
The translation component of the extrinsics is always ignored; the rotation is
ignored as well if \-\-intrinsics\-only.
.PP
This allows one to combine multiple image-processing techniques that expect
different projections. For instance, planes projected using a pinhole projection
have some nice properties, and we can use those after running this tool.
.PP
The input data comes in on standard input, and the output data is written to
standard output. Both are vnlog data: human-readable text with 2 columns: x and
y pixel coords. Comments are allowed, and start with the '#' character.
.SH OPTIONS
.IX Header "OPTIONS"
.SS "POSITIONAL ARGUMENTS"
.IX Subsection "POSITIONAL ARGUMENTS"
.Vb 2
\&  model\-from         Camera model for the input points.
\&  model\-to           Camera model for the output points.
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.SS "OPTIONAL ARGUMENTS"
.IX Subsection "OPTIONAL ARGUMENTS"
.Vb 5
\&  \-h, \-\-help         show this help message and exit
\&  \-\-intrinsics\-only  By default, the relative camera rotation is used in the
\&                     transformation. If we want to use the intrinsics ONLY,
\&                     pass \-\-intrinsics\-only. Note that relative translation is
\&                     ALWAYS ignored
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.SH REPOSITORY
.IX Header "REPOSITORY"
<https://www.github.com/dkogan/mrcal>
.SH AUTHOR
.IX Header "AUTHOR"
Dima Kogan, \f(CW\*(C`<dima@secretsauce.net>\*(C'\fR
.SH "LICENSE AND COPYRIGHT"
.IX Header "LICENSE AND COPYRIGHT"
Copyright (c) 2017\-2021 California Institute of Technology ("Caltech"). U.S.
Government sponsorship acknowledged. All rights reserved.
.PP
Licensed under the Apache License, Version 2.0 (the "License");
You may obtain a copy of the License at
.PP
.Vb 1
\&    http://www.apache.org/licenses/LICENSE\-2.0
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