text: import cv2
  import numpy as np
  import time
  from virtual_camera import VirtualCamera 
  from utility import FeatureMesh, nothing
  
  WINDOW_NAME = 'img'
  
  W = 2048
  H = 2048
  focal = 1024*3.45e-6
  # h = 1.1 -0.3 # height of the camera (respect to the circle)
  h = 0.8
  
  
  
  gazebo = cv2.imread('image/test1.png', 0)  
  X=0.1
  Y=0.1
  beta = -(np.pi/2-1.02)
  alpha=0
  
  # Image captured from gazebo camera. uncomment the following code to see different situation
  # gazebo = cv2.imread('image/test2.png', 0) 
  # X = 2.561412-2.2
  # Y = -0.205481
  # beta = -(np.pi/2-1.047197)
  # alpha = 0.52359877
  cam = VirtualCamera(0, beta, alpha, 0, 0, h, focal, [W, H])
  
  # print(cam.RT_camera_in_world)
  
  img = np.zeros((1000, 1000, 1), dtype=np.uint8)
  img[:, :] = 255
  cv2.circle(img, (500, 500), 500, 0)
  
  # cv2.imshow('img',img)
  # cv2.waitKey(1)
  mesh = FeatureMesh(X, Y, 0.14, 0.14, img)
  pimg = mesh.project_image_to_world()
  
  index = np.where(mesh.oneDimg == 0)
  index = np.squeeze(index)
  # print(len(index))
  pimg = pimg[index, :]
  
  timea = time.time()
  
  pixels = cam.project_world_to_pixel(pimg)
  
  pixels, index = cam.crop_pixel(pixels, index)
  timeb = time.time()
  # print(f'Cost {timeb-timea} seconds')
  # print(f'num:{len(pixels)}')
  newimg = np.zeros((W, H))
  newimg[:, :] = 255
  
  # print(f'XX:{max(pixels[:,0])-min(pixels[:,0])}')
  # print(f'YY:{max(pixels[:,1])-min(pixels[:,1])}')
  newimg[pixels[:, 0], pixels[:, 1]] = mesh.oneDimg[index]
  newimg = newimg.astype(np.uint8)
  
  add_image = cv2.addWeighted(newimg, 0.7, gazebo, 0.3, 0)
  # cv2.imwrite('2a.png',add_image)
  cv2.imshow('img', add_image)
  cv2.waitKey(0)