\(\Sigma' = J W \Sigma W^\top J^\top\), the affine approximation
to perspective projection that keeps the splat closed-form and
therefore fast.
Usage
morie_gsplat_project(S, W, J)
Arguments
- S
3x3 covariance.
- W
3x3 world-to-camera transform.
- J
2x3 Jacobian of the perspective projection.
Value
A list with projected (2x2) and dim.
References
Zwicker, M. et al. (2001); Kerbl, B. et al. (2023).
Examples
S <- diag(c(1, 2, 3))
J <- rbind(c(1, 0, 0), c(0, 1, 0))
morie_gsplat_project(S, W = diag(3), J = J)$projected # drops the depth axis
#> [,1] [,2]
#> [1,] 1 0
#> [2,] 0 2
