render.project_points
render.project_points(points, camera, resolution)Project world-space points through a camera to pixel coordinates.
Inverts the perspective ray construction used by the forward renderer, so overlay geometry lands exactly on the rendered pixels.
Parameters
| Name | Type | Description | Default |
|---|---|---|---|
| points | Array | World-space points, shape (N, 3). | required |
| camera | Camera | The camera the image was rendered with. | required |
| resolution | tuple[int, int] | (height, width) of the rendered image in pixels. | required |
Returns
| Name | Type | Description |
|---|---|---|
| pixels | np.ndarray | (N, 2) float array of (col, row) pixel coordinates. |
| valid | np.ndarray | (N,) bool mask — False for points at or behind the camera. |