ProjectPattern

The ProjectPattern command can be used to determine whether a pattern in a given pose can be seen by the camera. By providing a camera Link you can additionally set a virtual pose from which the camera projects the pattern. The command returns a corresponding visibility flag and the 3D points of the virtual pattern that is projected into the stereo camera.

You can use the command e.g. in the course of a hand-eye-calibration in order to reduce the calibration workload by not needing to actually move both camera and pattern to a new position when searching for valid calibration poses. Instead you can simply provide the virtual camera pose and the virtual pattern pose and then check the visibility flag.

To manually check if the pattern is visible you can check if all projected pattern points lie inside the image area.