d_coord_i = d_coord[valid]
x_coords_i = x_coords[valid]
y_coords_i = y_coords[valid]
coords = np.stack([
x_coords_i * d_coord_i, y_coords_i * d_coord_i, d_coord_i,
np.ones(x_coords_i.shape)
], -1)
proj_coords = np.matmul(M, coords.T).T
proj_coords = proj_coords[..., :2] / proj_coords[..., 2:3]
print("math time: %f\t" % (time.time() - start), end="")
start = time.time()
w.clear()
w.draw_points(proj_coords[..., 0].flatten(),
proj_coords[..., 1].flatten(),
fill='white',
s=5,
outline='white')
print("drawing time: %f" % (time.time() - start))
k.release_frames()
time.sleep(0.05)
rgb = k.get_current_color_frame()
cv2.imwrite('testing.png', rgb)
k.stop()
