ProjectPattern

The ProjectPattern command can be used to project the points of a pattern in a given pose into a stereo camera. The projected points can be used to judge if the pattern will be visible in a certain position.

You might also adjust the camera position or, when working with a camera on the robot, the robot hand pose before running the command in order to determine if the pattern can be seen in a certain combination of camera position, robot position and pattern position.

To check if the pattern is visible you can simply check if the projected pattern dot coordinates lie inside the image area.