%CAMERA	 Camera imaging model%%	uv = CAMERA(C, p)%	uv = CAMERA(C, p, T)%%	Implement the perspective, scaling and offset encapsulated in the%	camera calibration matrix C.  P is a list of 3D world points and%	the corresponding image plane points are returned in UV.%	The data in P is one point per row in X, Y, Z order.%%       T is a homogeneous transformation of the object coordinate frame%	wrt to the camera coordinate frame, and can be used to transform%	the points prior to imaging.%% SEE ALSO:	gcamera, camcalp, pulnix%%	Copyright (c) Peter Corke, 1999  Machine Vision Toolbox for Matlab%	pic 1993% $Header: /home/autom/pic/cvsroot/image-toolbox/camera.m,v 1.1 2002/05/26 10:50:20 pic Exp $% $Log: camera.m,v $% Revision 1.1  2002/05/26 10:50:20  pic% Initial revision%function uv = camera(C, p, Tobj, Tcam)	np = numrows(p);	% do the camera perspective transform			p = [p'; ones(1, np)];	% optionally transform all the points	switch nargin,		case 3,			Tcam =  eye(4,4);		case 2,			Tcam =  eye(4,4);			Tobj = eye(4,4);	end	p = inv(Tcam)*Tobj * p;	x = C * p;		% camera transform	iXY = x(1:2,:) ./ [x(3,:); x(3,:)];	uv = iXY';