projecting Tango 3D point to screen Google Project Tango

Question

Ptoject Tango provides a point cloud, how can you get the position in pixels of a 3D point in the point cloud in meters?

I tried using the projection matrix but I get ve

Answer 1

You have to multiply 3D point with RGB camera's intrinsics matrix to obtain pixel coordinate. 3D points are in Depthcamera's frame. You get pixel coordinates by following method:

and

x and y are pixel coordinates. And K is constructed with parameters using intrinsics function