[OpenDroneMap-dev] Bundler transformation from image to world coordinates

[Bruno Oliveira]

Hello,

does anyone know how to do the inverse bundler transform?
This is waht is in the manual (
http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html) :

*P* = *R* * *X* + *t*       (conversion from world to camera
coordinates)*p* = -*P* / *P*.z        (perspective division)*p*' = *f*
* r(*p*) * *p*   (conversion to pixel coordinates)


This explains how to transform a world point X to camera coordinates.

But how do I do the inverse transformation? (for instance, how do I
get thr x point?.....)
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