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Wrapping Function: Project pixel to another image

In computer vision, it is essential that I am able to project pixels into other images. I can do this easily when I know the depth of the pixel, which is normally the case as I develop with RGB-D cameras.

The idea is the following:
2D-Pixel + Depth -> 3D Point p -> [R|t] p -> 2D-Pixel in other Image

The math is on page three of "Robust Odometry Estimation for RGB-D Cameras"

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